发表机构
UTBM; CIAD（贝尔福-蒙贝利亚尔技术大学; 自动化与决策计算机科学实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种基于几何的路径跟踪算法，结合挂车横向控制与牵引车短时域预测转向调整，实现牵引车-挂车系统前进和倒车的稳定精确跟踪，无需标定或训练，仿真验证性能优于或持平经典方法。
AI 中文摘要
全自主牵引车-挂车系统越来越多地部署在物流、农业和工业环境中，在这些环境中，精确且鲁棒的路径跟踪能力至关重要。然而，牵引车与挂车之间的铰接引入了额外的非线性，并显著复杂化了横向和纵向控制，尤其是在倒车 maneuvers 期间。本文提出了一种专门针对带单个挂车的铰接车辆设计的新型路径跟踪算法。所提出的方法将应用于挂车层面的横向控制律与对牵引车转向角的短时域预测性调整相结合，确保在前进和后退运动中都能稳定收敛到期望路径。该方法基于几何原理，无需针对每辆车的标定或训练。在高保真物理模拟器中的仿真研究表明，该控制器在精度、稳定性和对扰动的鲁棒性方面能够匹配或超越经典及最先进的方法。
英文摘要
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.
