TY - GEN
T1 - Autonomous path following of truck-trailer vehicles using linear-fuzzy control
AU - Moran, Antonio
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/7
Y1 - 2017/6/7
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.
KW - Articulated mobile robots
KW - Linear-fuzzy control
KW - Trajectory following
KW - Truck-trailer robots
UR - http://www.scopus.com/inward/record.url?scp=85022335637&partnerID=8YFLogxK
U2 - 10.1109/ICCAR.2017.7942778
DO - 10.1109/ICCAR.2017.7942778
M3 - Conference contribution
AN - SCOPUS:85022335637
T3 - 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
SP - 651
EP - 657
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
Y2 - 22 April 2017 through 24 April 2017
ER -