Experiments in Autonomous Reversing of a Tractor-Trailer System
| Autor: | Kane Usher, Cédric Pradalier |
|---|---|
| Přispěvatelé: | Documentation, Inria Rhône-Alpes, Autonomous Systems Laboratory (BIOMEDIA), Commonwealth Scientific and Industrial Research Organisation [Canberra] (CSIRO), CSIRO Information and Commuciation Technologies (CSIRO ICT Centre) |
| Rok vydání: | 2008 |
| Předmět: |
Tractor
business.product_category Computer science ACM: I.: Computing Methodologies/I.2: ARTIFICIAL INTELLIGENCE/I.2.9: Robotics [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] Trailer Control theory Steering angle ACM: I.: Computing Methodologies/I.2: ARTIFICIAL INTELLIGENCE/I.2.8: Problem Solving Control Methods and Search Trajectory [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Reversing Tractor trailer business Control methods Simulation |
| Zdroj: | Springer Tracts in Advanced Robotics ISBN: 9783540754039 FSR 6th International Conference on Field and Service Robotics-FSR 2007 6th International Conference on Field and Service Robotics-FSR 2007, Jul 2007, Chamonix, France |
| DOI: | 10.1007/978-3-540-75404-6_45 |
| Popis: | International audience; Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, we overview our simple method for stabilizing a tractor-trailer system to a trajectory based on the notion of controlling the hitch-angle of the trailer rather than the steering angle of the tractor. The performance of this control method, as implemented on the CSIRO Autonomous Tractor, is then experimentally compared against a number of human drivers, showing that this method performs as well as a moderately skilled human driver, even though the system is significantly handicapped in terms of steering actuation speed and by errors in localization. |
| Databáze: | OpenAIRE |
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