Off-track reduction control for roundabout negotiation with multi-steering N-trailers
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2020
scientific article / paper
english
- off-track reduction
- multi-steering N-trailer
- kinematics
- roundabout negotiation
EN Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provides a generic kinematic steering strategy for this type of maneuver executed with articulated vehicles towing an arbitrary number of trailers equipped with steerable wheels, and attached through an arbitrary hitching type (on- or off-axle one). The control strategy requires a feedback from the internal (easily measurable) configuration variables of a vehicle, guarantees zero off-tracking in steady motion conditions, and improves a transient response of a vehicle chain by delaying the reference steering signals with the dynamically (online) scheduled time-delays. A resultant control performance is illustrated by simulation results.
14.04.2021
15687 - 15692
CC BY-NC-ND (attribution - noncommercial - no derivatives)
czasopismo hybrydowe
final published version
public
20
20