Control of a Five-Axle, Three-Steering Articulated-Vehicle System - Deformation of Paths Adapting to Geometrical Constraints of External and Internal States -

This paper presents a new path-following feedback control law enabling motion of a five-axle, three-steering articulated-vehicle system to be specified by the shape of three paths. It also presents a new path-planning method enabling the shape of the paths to be deformed adapting to geometrical constraints derived from external and internal states. The validity of the control law and the path-planning method is verified by computer simulations in which the path-following motion is achieved and the performance index defined from the geometrical constraints is optimized.