Scalable procedure of parametric estimation for N-Trailer kinematics
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technology
2022
chapter in monograph / paper
english
EN Kinematics of N-Trailer vehicles is characterized by two kinds of parameters, namely, the trailer lengths and the hitching offsets. In the case of automated or robotic N-Trailers, which can often exchange a subset of trailers during operations (e.g., when used in logistic stations or transhipment ports), kinematic parameters of the vehicle can become unknown or at least uncertain. Moreover, in the multi-axle trailers with fixed wheels the resultant trailer length and hitching offset are inherently uncertain or even time-varying during cornering motion. Therefore, we address the problem of parametric estimation of the N-Trailer kinematics using only (noisy) measurements of the vehicle’s joint (articulation) angles. A scalable sequential estimation procedure is proposed which can be flexibly applied to vehicles equipped with an arbitrary number of trailers interconnected with the offaxle and/or on-axle hitches. Numerical results presented in the paper illustrate large-sample statistical properties of the proposed estimation procedure.
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