非線形運動学モデルを用いた連結トラクタートレーラーシステムの経路追従性能の向上
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
連結トラクタートレーラーシステムの非線形運動学モデルを提案し、モデル予測制御と組み合わせてトレーラーの位置追従精度を向上させた。ROSとGazeboでシミュレーション検証を行った。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Marina Murillo, Guido Sanchez, Nestor Deniz, Lucas Genzelis, Leonardo Giovanini
分類: cs.RO
原文アブストラクト
This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.
