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Paper TuP212.3

Leng, Zhe (University of Utah), Minor, Mark (University of Utah)

A Simple Tractor-Trailer Backing Control Law for Path Following with Side Slope Compensation

Scheduled for presentation during the Regular Sessions "Field and Underwater Robotics II" (TuP212), Tuesday, May 10, 2011, 15:55−16:10, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Field Robots, Calibration and Identification

Abstract

Backing of a tractor-trailer system is a problem addressed in many literatures. It is usually solved using various nonlinear-based control methods, which are often not easy to implement or tune and do not consider the influence of side slope. We propose a two-tier controller that is simple and intuitive, which directly controls curvature of trailer's trajectory and allows the control input to be more directly related to path specification and to handle path curvature discontinuity better. A side slope compensator is designed upon the simple controller to prevent the side slope from deteriorating the system's tracking performance. Experimental results are provided to illustrate the capability of this new algorithm applied to a full scale autonomous vehicle and trailer system in a real field environment using minimal sensing capability. Performance comparison between the compensated and uncompensated systems is also presented. Results demonstrate good performance on sloped grounds.

 

 

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