Summary
Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, we overview our simple method for stabilizing a tractor-trailer system to a trajectory based on the notion of controlling the hitch-angle of the trailer rather than the steering angle of the tractor. The performance of this control method, as implemented on the CSIRO Autonomous Tractor, is then experimentally compared against a number of human drivers, showing that this method performs as well as a moderately skilled human driver, even though the system is significantly handicapped in terms of steering actuation speed and by errors in localization.
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© 2008 Springer-Verlag Berlin Heidelberg
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Pradalier, C., Usher, K. (2008). Experiments in Autonomous Reversing of a Tractor-Trailer System. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_45
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DOI: https://doi.org/10.1007/978-3-540-75404-6_45
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75403-9
Online ISBN: 978-3-540-75404-6
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