New Strategy Aiding the Motion Control of a Standard n-Trailer System in a Constrained Environment

Prasad, Avinesh and Kumar, Sandeep A. and Chand, Ravinesh (2024) New Strategy Aiding the Motion Control of a Standard n-Trailer System in a Constrained Environment. Engineered Science, 31 (1275). pp. 1-14. ISSN 2576-988X

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Abstract

The motion planning and control of a tractor-trailer system is a complex and computationally intensive problem due to the coupling of the tractor robot and the trailer(s) which are all non-holonomic in nature. This paper proposes a new solution via
the Lyapunov-based control scheme to control the motion of a standard n-trailer system in an obstacle-ridden workspace. The n-trailer system is comprised of a rear wheel driven car-like robot which is hitched to a series of multiple passive trailers. A constrained workspace cluttered with fixed elliptical and line obstacles of random sizes and positions is considered. For the
avoidance of the obstacles, a new strategy of enclosing each body of the n-trailer system in rectangular regions is presented. The strategy helps maximize free-space to allow the robot to enter narrow passages or maneuver in between neighboring obstacles. The system singularities and bounds on velocities are considered as artificial obstacles for which the respective avoidance functions are constructed. Attractive and repulsive potential functions, which are part of a Lyapunov function, are designed and the control inputs are extracted using the Lyapunov-based control scheme. Stability analysis is carried out using the direct method of Lyapunov and the result is verified numerically via computer simulations.

Item Type:	Journal Article
Uncontrolled Keywords:	Standard n-trailer system; Lyapunov-based control scheme; Minimum distance technique; Stability.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User:	Nirma Narayan
Date Deposited:	12 Jan 2025 23:13
Last Modified:	12 Jan 2025 23:13
URI:	https://repository.usp.ac.fj/id/eprint/14747

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