Trajectory tracking control of a car-trailer system

1997/05/01 by A.W. Divelbiss, John T. Wen, J.T. Wen · 1 citation
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Robotic Path Planning Algorithms #Smart Parking Systems Research

paper · doi:10.1109/87.572125

openalex publication_date 1997/05/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29

Abstract

This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented include parallel parking a car, docking a tractor-trailer vehicle, and parallel parking a double tractor-trailer vehicle.

Citations

• Theory of Ground Vehicles

Cited by

• Estimation-aware model predictive path-following control for a general 2-trailer with a car-like tractor

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