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Browse Conference Publications > Robotics and Automation, 2007 ... Help

A simple and efficient control scheme to reverse a tractor-trailer system on a trajectory

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2 Author(s)
Pradalier, C. ; Autonomous Syst. Lab., CSIRO ICT Centre, Brisbane, Qld. ; Usher, K.

Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, we present a 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 method is intuitive, provably stable, and shown to be viable through various experimental results conducted on our test platform, the CSIRO autonomous tractor.

Published in:
Robotics and Automation, 2007 IEEE International Conference on

Date of Conference: 10-14 April 2007

Page(s):
2208 - 2214
ISSN :
1050-4729
E-ISBN :
1-4244-0602-1
Print ISBN:
1-4244-0601-3
INSPEC Accession Number:
9561764
Conference Location :
Roma
Digital Object Identifier :
10.1109/ROBOT.2007.363648

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