NDLI: Path following of a vehicle-trailer system in presence of sliding: Application to automatic guidance of a towed agricultural implement

Content Provider	IEEE Xplore Digital Library
Author	Cariou, C. Lenain, R. Thuilot, B. Martinet, P.
Copyright Year	2010
Description	Author affiliation: Clermont Université, IFMA, LASMEA, BP 10448, 63000 Clermont-Ferrand, France (Martinet, P.) \|\| Cemagref, UR TSCF, 24, av. des Landais, 63172 Aubière, France (Cariou, C.; Lenain, R.) \|\| Clermont Université, Université Blaise Pascal, LASMEA, BP 10448, 63000 Clermont-Ferrand, France (Thuilot, B.)
Abstract	This paper addresses the problem of sliding parameter estimation and lateral control of an off-road vehicle-trailer system. The aim is to accurately guide the position of the trailer with respect to a planned trajectory, whatever ground conditions and trajectory shape. Relevant sliding parameter estimation is first proposed, based on the kinematic model of the system extended with side slip angles. Then, a vehicle steering control algorithm is presented to move away the vehicle from the reference trajectory in order for the trailer to achieve accurate path tracking. Reported experiments demonstrate the capabilities of the proposed algorithms.
Starting Page	4976
Ending Page	4981
File Size	1123855
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652673
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Mathematical model Wheels Observers Equations Vehicle dynamics Global Positioning System
Content Type	Text
Resource Type	Article

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