The Control Reversing Algorithm for Autonomous Vehicles with PSD-Controlled Trailers

Driving a vehicle with a passive trailer has been the subject of numerous studies. Current control strategies are mostly used by differential geometry, linear algebra, fuzzy regulators, and artificial neural networks. The objective of this study is to design an algorithm for autonomous control of th...

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Published inActa technologica agriculturae Vol. 24; no. 4; pp. 187 - 194
Main Authors Cviklovič, Vladimír, Srnánek, Rastislav, Hrubý, Dušan, Harničárová, Marta
Format Journal Article
LanguageEnglish
Published Nitra Sciendo 01.12.2021
De Gruyter Poland
Subjects
algebra
algorithms
autonomous mobile robot
controller
geometry
hitch angle
tractor-trailer system
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Summary:Driving a vehicle with a passive trailer has been the subject of numerous studies. Current control strategies are mostly used by differential geometry, linear algebra, fuzzy regulators, and artificial neural networks. The objective of this study is to design an algorithm for autonomous control of the tractor-trailer system reversing based on an algorithm using a PSD controller and to verify it on a simulated mathematical model. All parameters listed in the models and experiments are performed based on the existing tractor-trailer system. Dynamic models of steering and velocity control were identified and incorporated into the simulation. Result includes a stable operation of the steering without oscillating. The proposed algorithm can be implemented in microcontrollers without the need for high computing power.
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ISSN:1338-5267
1335-2555
1338-5267
DOI:10.2478/ata-2021-0031