The Control Reversing Algorithm for Autonomous Vehicles with PSD-Controlled Trailers-Reference-Cited by-同舟云学术

The Control Reversing Algorithm for Autonomous Vehicles with PSD-Controlled Trailers

Published:2021-12-01 Issue:4 Volume:24 Page:187-194
ISSN:1338-5267
Container-title:Acta Technologica Agriculturae
language:en
Short-container-title:

Author:

Cviklovič Vladimír¹,Srnánek Rastislav¹,Hrubý Dušan¹,Harničárová Marta¹

Affiliation:

1. Slovak University of Agriculture in Nitra , Slovak Republic

Abstract

Abstract Driving a vehicle with a passive trailer has been the subject of numerous studies. Current control strategies are mostly used by differential geometry, linear algebra, fuzzy regulators, and artificial neural networks. The objective of this study is to design an algorithm for autonomous control of the tractor-trailer system reversing based on an algorithm using a PSD controller and to verify it on a simulated mathematical model. All parameters listed in the models and experiments are performed based on the existing tractor-trailer system. Dynamic models of steering and velocity control were identified and incorporated into the simulation. Result includes a stable operation of the steering without oscillating. The proposed algorithm can be implemented in microcontrollers without the need for high computing power.

Publisher

Walter de Gruyter GmbH

Subject

Mechanical Engineering,Waste Management and Disposal,Agronomy and Crop Science

Link

https://www.sciendo.com/pdf/10.2478/ata-2021-0031

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