Title: | Path following bi-directional controller for articulated vehicles |
Author(s): | Kural, K. ; Kusumakar, Rakshith ; Tomar, A.S. ; Naren, A. |
Publication year: | 2019 |
In: | HVTT15 |
Publisher: | [S.l. : s.n.] |
Related links: | https://www.researchgate.net/publication/334050882_PATH_FOLLOWING_BI-DIRECTIONAL_CONTROLLER_FOR_ARTICULATED_VEHICLES |
Publication type: | Article in monograph or in proceedings |
Please use this identifier to cite or link to this item : https://hdl.handle.net/20.500.12470/2175 ![]() |
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Lectorate : | HAN Automotive Research |
Book title : | HVTT15 |
Abstract: |
Docking or parking articulated vehicles is a difficult task which further becomes complex with
increasing number of articulations, which can be arduous for even professional drivers.
Driver’s limited view and perception coupled with divergent instability of articulated vehicles
in reverse motion are the primary reasons of complexity of the maneuver. For such, a driver
support system is developed using a path following controller based on a virtual tractor
principle. This paper presents the control problem formulation together with brief descriptions
of relevant components of the closed-loop. An optimization routine is also presented which can
be used to tune the controller gains. A proof of concept is presented for a single articulated
vehicle using simulations and a second proof of concept is demonstrated using scaled test setup,
which also indicates that the presented controller can be implemented in full scale vehicle. Due
to a generic description presented in this paper, the controller is flexible and can be extended
for double articulated vehicles.
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