Adaptive Path-Following Control for Autonomous Semi-Trailer Docking

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 introdu...

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Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 71; no. 1; pp. 69 - 85
Main Authors Manav, Ahmet Canberk, Lazoglu, Ismail, Aydemir, Eren
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive systems
Advanced driver assistance systems
Algorithms
autonomous parking
Control systems
Controllers
Docking
Feedback control
Gain scheduling
Kinematics
Maneuvers
Mathematical models
Path planning
path-following
Robustness
Simulation
Task analysis
Task scheduling
Tractor trailers
trailer stabilization
Vehicle dynamics
Vehicles
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Summary: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.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2021.3125131