Steering the last trailer as a virtual tractor for reversing vehicles with passive on-and off-axle hitches

IEEE Transactions on Industrial Electronics

Volumn 60, Issue 12, 2013, Pages 5729-5736

  Morales, Jesus ^a   Martinez, Jorge L ^a   Mandow, Anthony ^a   Garcia Cerezo, Alfonso J ^a  

^a UNIVERSITY OF MÁLAGA   (Spain)

Author keywords

Land vehicles; mobile robots; motion control; robot kinematics; steering systems; vehicle driving

Indexed keywords

AXLES; KINEMATICS; MOBILE ROBOTS; MOTION CONTROL; STEERING; TRACTORS (AGRICULTURAL); TRACTORS (TRUCK);

AUTONOMOUS VEHICLES; LAND VEHICLES; MOTION STRATEGY; NONHOLONOMIC VEHICLES; PATH TRACKING; ROBOT KINEMATICS; STEERING SYSTEMS; TRACKED MOBILE ROBOTS;

AUTOMOBILE STEERING EQUIPMENT;

EID: 84875989342     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2013.2240631     Document Type: Article

References (37)

1. M. Ibrahim, I. Spark, and A. Percy, "New control concept for a gantry tractor comprising a chorus line of synchronized modules," IEEE Trans. Ind. Electron., vol. 57, no. 2, pp. 762-768, Feb. 2010.
2. A. Percy, I. Spark, and M. Ibrahim, "New algorithms for navigating a gantry tractor comprising a chorus line of synchronized modules," IEEE Trans. Ind. Electron., vol. 58, no. 2, pp. 398-402, Feb. 2011.
3. C. Altafini, "Following a path of varying curvature as an output regulation problem," IEEE Trans. Autom. Control, vol. 47, no. 9, pp. 1551-1556, Sep. 2002.
4. A. W. Divelbiss and J. T. Wen, "Trajectory tracking control of a cartrailer system," IEEE Trans. Control Syst. Technol., vol. 5, no. 3, pp. 269-278, May 1997. (Pubitemid 127768431)
5. C. Altafini, A. Speranzon, and B. Eahlberg, "A feedback control scheme for reversing a truck and trailer vehicle," IEEE Trans. Robot. Autom., vol. 17, no. 6, pp. 915-922, Dec. 2001. (Pubitemid 34125090)
6. R. M. DeSantis, J. M. Bourgeot, J. N. Todeschi, and R. Hurteau, "Pathtracking for tractor-trailers with hitching of both the on-axle and the off-axle kind," in Proc. IEEE Int. Symp. Intell. Control, Vancouver, BC, Canada, 2002, pp. 206-211.
7. U. Larsson, C. Zell, K. Hyyppä, and A. Wernersson, "Navigating an articulated vehicle and reversing with a trailer," in Proc. IEEE Int. Conf. Robot. Autom., San Diego, CA, USA, 1994, pp. 2398-2404.
8. M. Sampei, T. Tamura, T. Kobayashi, and N. Shibui, "Arbitrary path tracking control of articulated vehicles using nonlinear control theory," IEEE Trans. Control Syst. Technol., vol. 3, no. 1, pp. 125-131, Mar. 1995.
9. C. Pradalier and K. Usher, "Robust trajectory tracking for a reversing tractor trailer," J. Field Robot., vol. 25, no. 6/7, pp. 378-399, Apr. 2008.
10. A. González-Cantos and A. Ollero, "Backing-up maneuvers of autonomous tractor-trailer vehicles using the qualitative theory of nonlinear dynamical systems," Int. J. Robot. Res., vol. 28, no. 1, pp. 49-65, Jan. 2009.
11. Z. Leng and M. Minor, "A simple tractor-trailer backing control law for path following," in IEEE/RSJ Int. Conf. Intell. Robots Syst., Taipei, Taiwan, 2010, pp. 5538-5542.
12. P. Bolzern, R. M. DeSantis, A. Locatelli, and D. Masciocchi, "Pathtracking for articulated vehicles with off-axle hitching," IEEE Trans. Control Syst. Technol., vol. 6, no. 4, pp. 515-523, Jul. 1998. (Pubitemid 128745444)
13. K. Tanaka, S. Hori, and H. Wang, "Multiobjective control of a vehicle with triple trailers," IEEE/ASME Trans. Mechatronics, vol. 7, no. 3, pp. 357-368, Sep. 2002.
14. A. Riid, J. Ketola, and E. Rüstern, "Fuzzy knowledge-based control for backing multi-trailer systems," in Proc. IEEE Intell. Veh. Symp., Istanbul, Turkey, 2007, pp. 498-504.
15. K. Tanaka, K. Yamauchi, H. Ohtake, and H. O. Wang, "Sensor reduction for backing-up control of a vehicle with triple trailers," IEEE Trans. Ind. Electron., vol. 56, no. 2, pp. 497-509, Feb. 2009.
16. J. Yuan and Y. Huang, "Path following control for tractor-trailer mobile robots with two kinds of connection structures," in Proc. IEEE Int. Conf. Intell. Robots Syst., Beijing, China, 2006, pp. 2533-2538. (Pubitemid 46928277)
17. W. Chung, M. Park, K. Yoo, J. Roh, and J. Choi, "Backward-motion control of a mobile robot with n passive off-hooked trailers," J. Mech. Sci. Technol., vol. 25, no. 11, pp. 2895-2905, Nov. 2011.
18. F. Lamiraux, S. Sekhavat, and J. P. Laumond, "Motion planning and control for Hilare pulling a trailer," IEEE Trans. Robot. Autom., vol. 15, no. 4, pp. 640-652, Aug. 1999.
19. J. Cheng, Y. Zhang, S. Hou, and B. Song, "Stabilization control of a backward tractor-trailer mobile robot," in Proc. 8th World Congr. Intell. Control Autom., Jinan, China, 2010, pp. 2136-2141.
20. K. Matsushita and T. Murakami, "Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering," IEEE Trans. Ind. Electron., vol. 55, no. 1, pp. 280-287, Jan. 2008.
21. D. H. Kim and J. H. Oh, "Globally asymptotically stable tracking control for a trailer system," J. Robot. Syst., vol. 19, no. 5, pp. 199-205, May 2002.
22. J. L. Martínez, M. Paz, and A. García-Cerezo, "Path tracking for mobile robots with a trailer," in Proc. 15th IFAC World Congr., Barcelona, Spain, 2002, p. 865.
23. J. Morales, J. L. Martínez, A. Mandow, and I. J. Medina, "Virtual steering limitations for reversing an articulated vehicle with off-axle passive trailers," in Proc. 35th Annu. Conf. IEEE Ind. Electron., Porto, Portugal, 2009, pp. 2385-2390.
24. K. Yoo and W. Chung, "Pushing motion control of n passive off-hooked trailers by a car-like mobile robot," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, USA, 2010, pp. 4928-4933.
25. M. Michalek, "Geometrically motivated set-point control strategy for the standard n-trailer vehicle," in Proc. IEEE Intelligent Vehicles Symp., Baden-Baden, Germany, 2011, pp. 138-143.
26. J. I. Roh and W. Chung, "Reversing control of a car with a trailer using the driver assistance system," Int. J. Adv. Robot. Syst., vol. 8, no. 2, pp. 114-121, 2011.
27. M. Michalek, "Application of the VFO method to set-point control for the n-trailer vehicle with off-axle hitching," Int. J. Control, vol. 85, no. 5, pp. 502-521, May 2012.
28. J. L. Martínez, J. Morales, A. Mandow, and A. García- Cerezo, "Steering limitations for a vehicle pulling passive trailers," IEEE Trans. Control Syst. Technol., vol. 16, no. 4, pp. 809-818, Jul. 2008.
29. J. A. Nelder and R. Mead, "A simplex method for function minimization," Comput. J., vol. 7, no. 4, pp. 308-313, 1965.
30. J. L. Martínez, A. Mandow, J. Morales, S. Pedraza, and A. García-Cerezo, "Approximating kinematics for tracked mobile robots," Int. J. Robot. Res., vol. 24, no. 10, pp. 867-878, Oct. 2005. (Pubitemid 41494257)
31. J. L. Martínez, J. González, J. Morales, A. Mandow, and A. García-Cerezo, "Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms," J. Field Robot., vol. 23, no. 1, pp. 21-34, Jan. 2006.
32. J. H. Lee, W. Chung, M. Kim, and J. B. Song, "A passive multiple trailer system with off-axle hitching," Int. J. Control, Autom. Syst., vol. 2, no. 3, pp. 289-297, Sep. 2004.
33. O. Amidi, "Integrated mobile robot control," Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA, Tech. Rep. CMU-RI-TR-90-17, 1990.
34. J. Morales, J. L. Martínez, M. A. Martínez, and A. Mandow, "Purepursuit reactive path tracking for non-holonomic mobile robots with a 2D laser-scanner," EURASIP J. Adv. Signal Process., vol. 2009, pp. 1-10, Jan. 2009.
35. F. Cuesta, F. Gómez-Bravo, and A. Ollero, "Parking maneuvers of industrial-like electrical vehicles with and without trailer," IEEE Trans. Ind. Electron., vol. 51, no. 2, pp. 257-269, Apr. 2004.
36. Y. Yamaguchi and T. Murakami, "Adaptive control for virtual steering characteristics on electric vehicle using steer-by-wire system," IEEE Trans. Ind. Electron., vol. 56, no. 5, pp. 1585-1594, May 2009.
37. J. Morales, A.Mandow, J. L. Martínez, and A. García-Cerezo, "Driver assistance system for backward maneuvers in passive multi-trailer vehicles," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Vilamoura, Portugal, 2012, pp. 4853-4858.