Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, the authors overview their simple method for stabilizing a tractor-trailer system to a trajectory based on the notion of controlling the hitch-angle of the trailer rather than the steering angle of the tractor. The performance of this control method, as implemented on the CSIRO autonomous tractor, is then experimentally compared against a number of human drivers, showing that this method performs as well as a moderately skilled human driver, even though the system is significantly handicapped in terms of steering actuation speed and by errors in localization.
Experiments in autonomous reversing of a tractor-trailer system
Experimente mit autonomen Rückwärtsfahren eines Zugmaschine-Anhänger-Systems
2008
10 Seiten, 6 Bilder, 11 Quellen
Conference paper
English
Robust trajectory tracking for a reversing tractor trailer
British Library Online Contents | 2008
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