When a multi-body tractor-trailers (N-trailer) vehicle has to follow a varying-curvature reference path, the unavoidable effect of a non-zero off-track occurs for most of the vehicle segments. The boundary off-track determines a minimal width of an envelope around the path which must be kept obstacle-free to ensure safe motion of a vehicle. The cascade-like control strategy presented by the author in his previous works is generalized here to enable minimization of the envelope width by introducing and utilizing the so-called virtual guidance point of a vehicle being a linear weighted combination of postures of all the vehicle segments. Application of the proposed control strategy with appropriately chosen weights allows reducing the boundary off-track for the N-trailers equipped with off-axle hitches. Exemplary simulation results show efficacy and utility of the method for a vehicle with three trailers and mixed signs of hitching offsets.
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机译：当多体拖拉机拖车（N-拖车）车辆必须遵循变化曲率参考路径时，对于大多数车辆区段，发生非零轨道的不可避免的效果。边界偏离轨道确定必须保持障碍物的路径周围的封套的最小宽度，以确保车辆的安全运动。作者在他以前的作品中呈现的级联控制策略在这里推广，以通过引入和利用车辆的所谓虚拟指导点来实现信封宽度的最小化，该虚拟指导点是所有车段的线性加权组合的线性加权组合。 Application of the proposed control strategy with appropriately chosen weights allows reducing the boundary off-track for the N-trailers equipped with off-axle hitches.示例性仿真结果显示了用三个拖车和挂钩偏移的混合迹象的车辆方法的功效和效果。
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