Autonomous path following of truck-trailer vehicles using linear-fuzzy control

Antonio Moran

doi:10.1109/ICCAR.2017.7942778

Autonomous path following of truck-trailer vehicles using linear-fuzzy control

Antonio Moran

Sección de Electricidad y Electrónica

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

The kinematical model of a truck-trailer mobile robot is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach, taking into account both positioning performance and jack-knife avoidance. The results of robot positioning control are extended to trajectory following for which a novel strategy is proposed applicable to general-shape desired trajectories. The effectiveness of the proposed control strategies are verified for linear, circular and sinusoidal trajectories where the mobile robot attains and follows the desired trajectory, avoiding jack-knife positions and with bounded values of input steering angle.

Original language	English
Title of host publication	2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	651-657
Number of pages	7
ISBN (Electronic)	9781509060870
DOIs	https://doi.org/10.1109/ICCAR.2017.7942778
State	Published - 7 Jun 2017
Event	3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan Duration: 22 Apr 2017 → 24 Apr 2017

Publication series

Name	2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

Conference

Conference	3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Country/Territory	Japan
City	Nagoya
Period	22/04/17 → 24/04/17

Keywords

Articulated mobile robots
Linear-fuzzy control
Trajectory following
Truck-trailer robots

Access to Document

10.1109/ICCAR.2017.7942778

Cite this

Moran, A. (2017). Autonomous path following of truck-trailer vehicles using linear-fuzzy control. In 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 (pp. 651-657). Article 7942778 (2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAR.2017.7942778

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title = "Autonomous path following of truck-trailer vehicles using linear-fuzzy control",

abstract = "The kinematical model of a truck-trailer mobile robot is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach, taking into account both positioning performance and jack-knife avoidance. The results of robot positioning control are extended to trajectory following for which a novel strategy is proposed applicable to general-shape desired trajectories. The effectiveness of the proposed control strategies are verified for linear, circular and sinusoidal trajectories where the mobile robot attains and follows the desired trajectory, avoiding jack-knife positions and with bounded values of input steering angle.",

keywords = "Articulated mobile robots, Linear-fuzzy control, Trajectory following, Truck-trailer robots",

author = "Antonio Moran",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 ; Conference date: 22-04-2017 Through 24-04-2017",

year = "2017",

month = jun,

day = "7",

doi = "10.1109/ICCAR.2017.7942778",

language = "English",

series = "2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Moran, A 2017, Autonomous path following of truck-trailer vehicles using linear-fuzzy control. in 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017., 7942778, 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017, Institute of Electrical and Electronics Engineers Inc., pp. 651-657, 3rd International Conference on Control, Automation and Robotics, ICCAR 2017, Nagoya, Japan, 22/04/17. https://doi.org/10.1109/ICCAR.2017.7942778

Autonomous path following of truck-trailer vehicles using linear-fuzzy control. / Moran, Antonio.
2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 651-657 7942778 (2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2017/6/7

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N2 - The kinematical model of a truck-trailer mobile robot is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach, taking into account both positioning performance and jack-knife avoidance. The results of robot positioning control are extended to trajectory following for which a novel strategy is proposed applicable to general-shape desired trajectories. The effectiveness of the proposed control strategies are verified for linear, circular and sinusoidal trajectories where the mobile robot attains and follows the desired trajectory, avoiding jack-knife positions and with bounded values of input steering angle.

AB - The kinematical model of a truck-trailer mobile robot is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach, taking into account both positioning performance and jack-knife avoidance. The results of robot positioning control are extended to trajectory following for which a novel strategy is proposed applicable to general-shape desired trajectories. The effectiveness of the proposed control strategies are verified for linear, circular and sinusoidal trajectories where the mobile robot attains and follows the desired trajectory, avoiding jack-knife positions and with bounded values of input steering angle.

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M3 - Conference contribution

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BT - 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

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ER -

Moran A. Autonomous path following of truck-trailer vehicles using linear-fuzzy control. In 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 651-657. 7942778. (2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017). doi: 10.1109/ICCAR.2017.7942778

Autonomous path following of truck-trailer vehicles using linear-fuzzy control

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