Collision-free navigation of N-trailer vehicles with motion constraints

Guevara, Leonardo, Torres-Torriti, Miguel and Auat Cheein, Fernando (2019) Collision-free navigation of N-trailer vehicles with motion constraints. In: 12th International Workshop on Robot Motion and Control (RoMoCo).

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Collision-free navigation of N-trailer vehicles with motion constraints
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20190528 - Collision-free navigation - submitted.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


In this work, a collision-free navigation strategy for N-trailer vehicles is proposed. This approach is based on a scalable cascaded control scheme to perform several tasks simultaneously: trajectory tracking control, off-track error reduction, external obstacles avoidance, and inter-vehicle collision avoidance. To validate the proposed strategy, a Generalized N-trailer (GNT) structure with a car-like tractor and 10 trailers is tested in simulation to track an U-shape trajectory in presence of unknown obstacles, similar to the trajectories that agricultural vehicles must perform in real applications. The well-known information about external infrastructure is also considered to reduce unsafe trailers off-track errors in turning scenarios. Moreover, the motion constraints imposed by the car-like tractor physical limitations and the interconnections between trailers are also considered by restricting the control input in order to avoid collision between trailers. The simulation results obtained showed a safe navigation which performed feasible maneuvers without collisions between the vehicles' chain and any trailer or external obstacle.

Keywords:N-trailers, Trajectory tracking problems, Collision avoidance, agricultural machinery, Control Systems, Motion Control
Subjects:H Engineering > H131 Automated Engineering Design
H Engineering > H660 Control Systems
H Engineering > H671 Robotics
H Engineering > H130 Computer-Aided Engineering
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:53537
Deposited On:29 Mar 2023 12:51

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