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Null space-based control with gain modulation applied to a MARV in backward movement
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AI
DOI：10.1016/j.isatra.2024.06.019.png)
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Abstract
En 中文
A controller is proposed to guide a multi-articulated robot vehicle (MARV) moving backwards, following a certain path. The ability to avoid fixed and moving obstacles is included, using the null space-based control technique to manage the conflicting tasks of following a path and avoiding obstacles. Additionally, control gains are modulated, thus reducing the risk of jackknifing. These new approaches are the contributions of the article. Results of laboratory-scale experiments with a MARV pushing one and two trailers are presented and discussed, which validate the proposed controller. Simulation results are also presented considering a MARV with three trailers, showing that the proposed controller can be adopted for larger articulated chains and another experiment that shows that it is possible to avoid moving obstacles.
Keywords:
Multi-articulated robotic vehicle
Path-following control
Collision avoidance
Null space-based behavioral control
Jackknife prevention
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