首页|Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
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NSTL
Elsevier
? 2022 Elsevier B.V.This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.
Articulated vehicleKinematic modelNon-linear model predictive controlTractor-trailer system
Murillo M.、Sanchez G.、Deniz N.、Giovanini L.、Genzelis L.
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Research Institute for Signals Systems and Computational Intelligence FICH-UNL/CONICET Ciudad Universitaria UNL
Faculty of Engineering and Water Resources (FICH) Universidad Nacional del Litoral (UNL)
NSTL
Elsevier
