多挂车牵引车路径跟踪控制器

Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066) Pub Date : 1997-11-09 DOI:10.1109/IECON.1997.668493

T. Hashizume, I. Yaginuma, H. Fujikawa, S. Yamada

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引用次数: 2

摘要

本文讨论了一种由一台牵引车和两台挂车组成的铰接式汽车机器人在工业厂房中的实际应用。由于铰接式车辆，必须考虑后挂车的安全性。因此，作者提出了一种新的路径跟踪控制系统，该系统可以通过模糊推理和预测来调节速度和转向角，并根据偏离余量来调整转向角，以保证后挂车的安全。

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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Path tracking controller for a tractor with multiple trailers

In this paper, the authors discuss an articulated vehicle robot consisting of one tractor and two trailers as actually used in industrial plants. Because of the articulated vehicle, one must consider the safety of the rear trailers. Therefore, the authors propose a new path tracking control system that can adjust velocity and steering angle by fuzzy reasoning and prediction as well as modify the steering angle with the margin of deviation for the safety of rear trailers.

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来源期刊

Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)

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