Controlling a MARV in Backward Movements with Null Space-based Collision Avoidance

Abstract

This work proposes a null space-based controller for a multi-articulated robot vehicle (MARV) in backward movements, capable of avoiding collision with static obstacles during navigation. This can be the case of a multi-trailer truck moving backwards or even a tractor vehicle pushing passive trailers in agricultural applications. These articulated vehicles should also avoid possible collisions between the elements of the composition (situation known as jackknife), which would prevent the vehicle to continue in motion. In this context, the article discusses the application of null space-based control to a MARV, to manage the conflicting tasks of following a path and avoid obstacles surrounding it. The MARV modeling and the proposed controller are presented. Results obtained running simulations considering a MARV composed of a unicycle mobile robot pushing two trailers validate the approach adopted to guide the MARV navigation when there are obstacles nearby or on the path being followed.