An iterative algorithm to symbolically derive generalized n-trailer vehicle kinematics

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-05-23 DOI:10.1016/j.mechatronics.2025.103350

Yuvraj Singh , Adithya Jayakumar , Giorgio Rizzoni

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引用次数: 0

Abstract

Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized

n

-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for

n

-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers.

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广义n-挂车运动学符号化推导的迭代算法

铰接式多轴车辆由于其独特的运动偏离特性、不稳定模式和奇异性，从控制理论的角度引起了人们的关注。研究了影响运动学行为的完整和非完整约束，以建立代表这些特性的面向控制的运动学模型。然后，利用这些约束的结构，开发了一种迭代算法，以符号化地推导具有任意数量多轴车辆单元的广义n拖车铰接车辆的偏航平面运动学模型。给出了大型广义铰接车辆系统允许的最大运动控制数的形式化证明，从而得到了n-挂车系统的广义Ackermann转向律。此外，从测试车辆收集的运动学数据用于验证运动学模型，并了解车辆牵引多个模拟拖车时的后向偏航率放大行为。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.