Experiments in Autonomous Reversing of a Tractor-Trailer System

  title={Experiments in Autonomous Reversing of a Tractor-Trailer System},
  author={C{\'e}dric Pradalier and Kane Usher},
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

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