In this paper a cascaded approach for stabilizationand path tracking of a general 2-trailer vehicle configurationwith an off-axle hitching is presented. A low level LinearQuadratic controller is used for stabilization of the internalangles while a pure pursuit path tracking controller is used ona higher level to handle the path tracking. Piecewise linearityis the only requirement on the control reference which makesthe design of reference paths very general. A Graphical UserInterface is designed to make it easy for a user to design controlreferences for complex manoeuvres given some representationof the surroundings. The approach is demonstrated with challengingpath following scenarios both in simulation and on asmall scale test platform. ; iQMatic
Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach
2016-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Reversing the General One-Trailer System: Asymptotic Curvature Stabilization and Path Tracking
Online Contents | 2014
|Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT
BASE | 2016
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