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Trajectory generation for a four wheel steering tractor-trailer system: a two-step method

Wang, Y., and Cartmell, M.P. (1998) Trajectory generation for a four wheel steering tractor-trailer system: a two-step method. Robotica, 16 (4). pp. 381-386. ISSN 0263-5747 (doi:10.1017/S0263574798000423)

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Abstract

A basic problem in the development of an intelligent vehicle/highway system (IVHS), or an autonomous mobile robot system (AMRS) is to find suitable input controls which can be used to drive the vehicle between any two configurations. In this paper a trajectory generation problem for a four-wheel-steering tractor/semi-trailer system is investigated, and it is shown that this nonholonomic constraint problem can be converted into one of finding fitting-functions satisfying certain necessary boundary conditions. Proposals for control laws are presented and simulation results for a lane change manoeuvre are given

Item Type:Article
Status:Published
Refereed:Yes
Glasgow Author(s):Cartmell, Prof Matthew
Authors: Wang, Y., and Cartmell, M.P.
College/School:College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:Robotica
ISSN:0263-5747
Published Online:8 September 2000

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