TY - GEN
T1 - Autonomous driving of truck-trailer mobile robots with linear-fuzzy control for trajectory following
AU - Moran, Antonio
AU - Nagai, Masao
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - The modeling and autonomous control of truck-trailer mobile robots for trajectory following are addressed. The robot kinematical model is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach. The design takes 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 methods are verified for linear, circular and sinusoidal trajectories where the mobile robot converges to the desired trajectories, avoiding jack-knife positions and with bounded values of input steering angle.
AB - The modeling and autonomous control of truck-trailer mobile robots for trajectory following are addressed. The robot kinematical model is analyzed and used for designing a positioning control system based on linear controllers integrated in a fuzzy-logic approach. The design takes 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 methods are verified for linear, circular and sinusoidal trajectories where the mobile robot converges to the desired trajectories, avoiding jack-knife positions and with bounded values of input steering angle.
KW - Fuzzy control
KW - Linear-fuzzy integration
KW - Trailer-type robot
KW - Trajectory Following
UR - http://www.scopus.com/inward/record.url?scp=85090496210&partnerID=8YFLogxK
U2 - 10.1109/FUZZ48607.2020.9177697
DO - 10.1109/FUZZ48607.2020.9177697
M3 - Conference contribution
AN - SCOPUS:85090496210
T3 - IEEE International Conference on Fuzzy Systems
BT - 2020 IEEE International Conference on Fuzzy Systems, FUZZ 2020 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Fuzzy Systems, FUZZ 2020
Y2 - 19 July 2020 through 24 July 2020
ER -