A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems
Dahlmann J, Volz A, Szabo T, Graichen K (2022)
Publication Type: Conference contribution
Publication year: 2022
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2022-June
Pages Range: 2018-2024
Conference Proceedings Title: Proceedings of the American Control Conference
Event location: Atlanta, GA, USA
ISBN: 9781665451963
DOI: 10.23919/ACC53348.2022.9867593
Abstract
Planning feasible trajectories is a necessity for developing autonomous vehicles. This especially becomes a difficult task when arbitrary trailers are involved. This paper proposes a sequential approach to solve the inversion problem for the so-called n-trailer systems. The idea is to specify the movement of the rearmost axle and convert the vehicle chain into concatenated axle pairs. Starting from the rearmost axle, the hitching angles and their time derivatives can be computed using geometric relations as well as either numerical differentiation or integration depending on the hitching type. The algorithm constructs the vehicle motion trajectories and the required control signals. Additionally, a method for generating the reference paths is provided. The results are validated for a truck with three trailers and different hitching types.
Authors with CRIS profile
Julian Dahlmann
Chair of Automatic Control (LRT/AC)
Knut Graichen
Chair of Automatic Control (LRT/AC)
Related research project(s)
Involved external institutions
Germany (DE)How to cite
APA:
Dahlmann, J., Volz, A., Szabo, T., & Graichen, K. (2022). A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems. In Proceedings of the American Control Conference (pp. 2018-2024). Atlanta, GA, USA: Institute of Electrical and Electronics Engineers Inc..
MLA:
Dahlmann, Julian, et al. "A Numerical Approach for Solving the Inversion Problem for n-Trailer Systems." Proceedings of the 2022 American Control Conference, ACC 2022, Atlanta, GA, USA Institute of Electrical and Electronics Engineers Inc., 2022. 2018-2024.
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