V. Cviklovič, Rastislav Srnánek, D. Hruby, M. Harničárová
{"title":"The Control Reversing Algorithm for Autonomous Vehicles with PSD-Controlled Trailers","authors":"V. Cviklovič, Rastislav Srnánek, D. Hruby, M. Harničárová","doi":"10.2478/ata-2021-0031","DOIUrl":null,"url":null,"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.","PeriodicalId":43089,"journal":{"name":"Acta Technologica Agriculturae","volume":"24 1","pages":"187 - 194"},"PeriodicalIF":1.3000,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Acta Technologica Agriculturae","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/ata-2021-0031","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AGRICULTURE, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 3
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.
期刊介绍：
Acta Technologica Agriculturae is an international scientific double-blind peer reviewed journal focused on agricultural engineering. The journal is multidisciplinary and publishes original research and review papers in engineering, agricultural and biological sciences, and materials science. Aims and Scope Areas of interest include but are not limited to: agricultural and biosystems engineering; machines and mechanization of agricultural production; information and electrical technologies; agro-product and food processing engineering; physical, chemical and biological changes in the soil caused by tillage and field traffic, soil working machinery and terramechanics; renewable energy sources and bioenergy; rural buildings; related issues from applied physics and chemistry, ecology, economy and energy.
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