Experiments in Autonomous Reversing of a Tractor-Trailer System

@inproceedings{Pradalier2007ExperimentsIA,
  title={Experiments in Autonomous Reversing of a Tractor-Trailer System},
  author={C{\'e}dric Pradalier and Kane Usher},
  booktitle={FSR},
  year={2007}
}
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… CONTINUE READING

From This Paper

Figures, tables, results, connections, and topics extracted from this paper.
1 Extracted Citations
10 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 10 references

Swing loader traffic control

  • Elliot Duff, Kane Usher, Peter Ridley
  • Technical Report ICT 06/142,
  • 2006
1 Excerpt

Visual homing for a car-like vehicle

  • K. Usher
  • PhD thesis,
  • 2005
1 Excerpt

Trailer backing up device and method, 2004. US patent US2004215374

  • S. D. Robert
  • 2004
1 Excerpt

Load haul dump vehicle kinematics and control

  • P. Ridley, P. Corke
  • Journal of Dyn. Sys, Measurement and Control,
  • 2003
1 Excerpt

An input-output linearization approach to the control of an n-body articulated vehicle

  • P. Bolzern, R. M. DeSantis, A. Locatelli
  • Journal of Dynamic Systems, Measurement, and…
  • 2001
1 Excerpt

Vehicular steering system for reverse paths, 1993. US patent US5247442

  • R. G. Kandall
  • 1993
1 Excerpt

Automatic reverse steering system for passenger vehicles with trailer

  • S. Karl
  • DE patent DE3538338
  • 1987
1 Excerpt

Similar Papers

Loading similar papers…