連結トラクター・トレーラーの前進・後退自動運転のための新しい経路追従アルゴリズム
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
トレーラー側の横方向制御とトラクター操舵角の短期予測調整を組み合わせ、単一トレーラー連結車の前進・後退経路追従を高精度かつ安定に実現する幾何学ベースの手法を提案した。
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著者: Alexandre Lombard, Florent Perronnet, Nicolas Gaud, Abdeljalil Abbas-Turki
分類: cs.RO, eess.SY
原文アブストラクト
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 demonstrate the ability of the controller to match or outperform classical and state-of-the-art methods in terms of accuracy, stability, and robustness to disturbances.