Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach
This work addresses the control of complex trailer configurations for applications like autonomous vehicles or logistics, but it is incremental as it builds on existing cascaded and control methods.
The paper tackled the problem of path tracking and stabilization for a reversing general 2-trailer vehicle with off-axle hitching by using a cascaded control approach combining a Linear Quadratic controller and a pure pursuit controller, and demonstrated its effectiveness in simulation and on a small-scale test platform with challenging scenarios.
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal angles while a pure pursuit path tracking controller is used on a higher level to handle the path tracking. Piecewise linearity is the only requirement on the control reference which makes the design of reference paths very general. A Graphical User Interface is designed to make it easy for a user to design control references for complex manoeuvres given some representation of the surroundings. The approach is demonstrated with challenging path following scenarios both in simulation and on a small scale test platform.