aiqbench analysis
This paper presents a geometry-based control algorithm for autonomous tractor-trailers that eliminates the need for per-vehicle training or calibration. By combining lateral trailer control with predictive tractor steering adjustments, the method ensures stable path convergence during complex forward and reversing maneuvers in logistics and agriculture. The approach addresses specific nonlinearities inherent to articulated vehicles without relying on standard machine learning models.
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
arXiv:2609.21718v1 Announce Type: new Abstract: Fully autonomous tractor--trailer systems are increasingly deployed in logistics, agriculture, and industrial environments, where precise and robust path-tracking capabilities are essential. However, the articulation between the tractor and the trailer introduces additional nonlinearities and significantly complicates lateral and longitudinal control, particularly during reversing maneuvers. This paper introduces a novel path-tracking algorithm specifically designed for articulated vehicles with a single trailer. The proposed method combines a lateral control law applied at the trailer level with a short-horizon predictive adjustment of the tractor steering angle, ensuring stable convergence toward the desired path in both forward and backward motion. The approach is geometry-based and requires no per-vehicle calibration or training. Simulation studies in a high-fidelity physics simulator demonstrate the ability of the controller to match or outperform classical and state-of-the-art methods in terms of accuracy, stability, and robustness to disturbances.
Abstract:Fully autonomous tractor--trailer systems are increasingly deployed in logistics, agriculture, and industrial environments, where precise and robust path-tracking capabilities are essential. However, the articulation between the tractor and the trailer introduces additional nonlinearities and significantly complicates lateral and longitudinal control, particularly during reversing maneuvers. This paper introduces a novel path-tracking algorithm specifically designed for articulated vehicles with a single trailer. The proposed method combines a lateral control law applied at the trailer level with a short-horizon predictive adjustment of the tractor steering angle, ensuring stable convergence toward the desired path in both forward and backward motion. The approach is geometry-based and requires no per-vehicle calibration or training. Simulation studies in a high-fidelity physics simulator demonstrate the ability of the controller to match or outperform classical and state-of-the-art methods in terms of accuracy, stability, and robustness to disturbances.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2609.21718 [cs.RO]
(or arXiv:2609.21718v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.21718 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 234 words
