<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

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

Slovak University of Agriculture in Nitra

Acta Technologica Agriculturae

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Driving a vehicle with a passive trailer has been the subject of numerous studies. Current control strategies are mostly used by differential geometry, linear...

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

Published Online: Dec 07, 2021

Page range: 187 - 194

DOI: https://doi.org/10.2478/ata-2021-0031

Keywords
autonomous mobile robot, tractor-trailer system, hitch angle, controller

© 2021 Vladimír Cviklovič et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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

Published Online: Dec 07, 2021

Page range: 187 - 194

DOI: https://doi.org/10.2478/ata-2021-0031

Keywordsautonomous mobile robot, tractor-trailer system, hitch angle, controller

© 2021 Vladimír Cviklovič et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
autonomous mobile robot, tractor-trailer system, hitch angle, controller