拖车
控制理论(社会学)
运动规划
稳健性(进化)
MATLAB语言
计算机科学
控制工程
车辆动力学
工程类
模拟
汽车工程
机器人
控制(管理)
人工智能
操作系统
基因
化学
生物化学
作者
Ahmet Canberk Manav,İsmail Lazoğlu,Eren Aydemir
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2021-11-04
卷期号:71 (1): 69-85
被引量:15
标识
DOI:10.1109/tvt.2021.3125131
摘要
Maneuvering a truck-trailer system while docking is extremely challenging. This article aims to alleviate this problem by presenting an enhanced path-following control framework for autonomous semi-trailer docking. In the proposed system, adaptive controllers that utilize gain scheduling are introduced for forward and reverse path-following tasks in docking maneuvers to increase the robustness and path-following performance. The system includes an improved pure pursuit controller with adaptive look-ahead distance for forward path following; a cascade controller of reverse pure pursuit and a gain-scheduled LQ control for reverse path-following. In the evaluation of the path-following performance of forward and reverse controllers, the closed-loop system of path-following controllers with the truck-trailer kinematic model is simulated in MATLAB/Simulink for various test cases, and the results are compared with those of other studies. Furthermore, different docking scenarios are generated via the cascade path planning algorithm for autonomous semitrailer docking. These are tested with a high degree semi-trailer model within the IPG TruckMaker simulation environment, and with a full truck-trailer vehicle in the test field. The results of both simulations and physical testing clearly demonstrate improvements in terms of the control problem formulation, i.e., the stabilized path-following is obtained with acceptable path-following errors.
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