← 研踪 PaperTrailarXiv:2609.21718 · v3
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
首次提交 2026-09-18 20:53
版本更新 2026-10-27 00:33
雷达观测 2026-10-29 00:35
摘要
Fully autonomous tractor-trailer systems are increasingly deployed in logistics, agriculture, and industrial environments, where precise and robust path-tracking capabilities are essential. However, the articulation between the tractor and the trailer introduces additional nonlinearities and significantly complicates lateral and longitudinal control, particularly during reversing maneuvers. This paper introduces a novel path-tracking algorithm specifically designed for articulated vehicles with a single trailer. The proposed method combines a lateral control law applied at the trailer level with a short-horizon predictive adjustment of the tractor steering angle, ensuring stable convergence toward the desired path in both forward and backward motion. The approach is geometry-based and requires no per-vehicle calibration or training. Simulation studies in a high-fidelity physics simulator show steady-state or final lateral errors of $0.02$--$0.05$~m on straight-line, circular, and reverse docking trajectories, which is of the same order of magnitude as, or lower than, the errors reported in the literature. Real-world experiments on a small-scale tractor--trailer robot, with the whole controller running on a low-cost microcontroller, further confirm the feasibility of the approach, with lateral errors below 13~mm during repeated reverse docking maneuvers despite a pose detection latency of about 200~ms.
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v3 · 2026-10-27 00:33 · 最新观测版本
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
Fully autonomous tractor-trailer systems are increasingly deployed in logistics, agriculture, and industrial environments, where precise and robust path-tracking capabilities are essential. However, the articulation between the tractor and the trailer introduces additional nonlinearities and significantly complicates lateral and longitudinal control, particularly during reversing maneuvers. This paper introduces a novel path-tracking algorithm specifically designed for articulated vehicles with a single trailer. The proposed method combines a lateral control law applied at the trailer level with a short-horizon predictive adjustment of the tractor steering angle, ensuring stable convergence toward the desired path in both forward and backward motion. The approach is geometry-based and requires no per-vehicle calibration or training. Simulation studies in a high-fidelity physics simulator show steady-state or final lateral errors of $0.02$--$0.05$~m on straight-line, circular, and reverse docking trajectories, which is of the same order of magnitude as, or lower than, the errors reported in the literature. Real-world experiments on a small-scale tractor--trailer robot, with the whole controller running on a low-cost microcontroller, further confirm the feasibility of the approach, with lateral errors below 13~mm during repeated reverse docking maneuvers despite a pose detection latency of about 200~ms.
查看此版本解读 →查看此版本原文 ↗