Abstract
For articulated vehicles met in robotics and transportation fields, even for an experienced operator, backing-up leads usually to jack-knifing. This paper presents a fuzzy logic controller for back-driving a truck-trailer vehicle into a predefined parking task. The truck-trailer link system is equipped with a kingpin sliding mechanism acting as an anti-jackknife excitation input. By applying fuzzy logic control techniques, precise system model is not required. The developed controller with thirty four rules works well as the presented simulation results demonstrate the avoidance of jack-knife and the accuracy of the backing-up technique.
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© 2009 IFIP International Federation for Information Processing
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Siamantas, G., Manesis, S. (2009). Backing-up Fuzzy Control of a Truck-trailer Equipped with a Kingpin Sliding Mechanism. In: Iliadis, Maglogiann, Tsoumakasis, Vlahavas, Bramer (eds) Artificial Intelligence Applications and Innovations III. AIAI 2009. IFIP International Federation for Information Processing, vol 296. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-0221-4_44
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DOI: https://doi.org/10.1007/978-1-4419-0221-4_44
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4419-0220-7
Online ISBN: 978-1-4419-0221-4
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