Stabilization of a road-train of articulated vehicles

Eric Lucet 1 Alain Micaelli 2
1 LRI - Laboratoire de Robotique Interactive
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
Abstract : This paper deals with the stable navigation of up to eight articulated vehicles, coupled together to form a road-train. Based on kinematic and dynamic models, three control approaches are proposed for dynamic stabilization in road-train configuration, as well as a methodology for setting control gains, using three possible actuators: damper at the vehicle articulation, front steering or rear drive wheels. Implementation on a 3D simulator, representative of the dynamics of the real system with a high degree of fidelity, demonstrates the controller's performance and robustness in critical scenario conditions. Tests are then conducted in real conditions to validate the new strategy.
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Submitted on : Friday, February 8, 2019 - 11:12:58 AM
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Eric Lucet, Alain Micaelli. Stabilization of a road-train of articulated vehicles. Robotics and Autonomous Systems, Elsevier, In press, ⟨10.1016/j.robot.2019.01.016⟩. ⟨cea-02011804⟩

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