Abstract
The motion of a multi-articulated robotic vehicle as well as of a train-like vehicle is characterized by the deviation of the path of each intermediate vehicle from that of the leading one (off-tracking phenomenon). In this paper, we propose the use of an innovative movable junction, which allows the kingpin to slide along the rear axis of the pulling vehicle, a technique that proved to be efficient in reducing or completely eliminating off-tracking. New kinematic equations are derived and a nonlinear controller is analytically developed, based on the steady-state off-tracking behavior of the n-trailer system. Simulations and a comparison study for various cases without/with this innovative “sliding kingpin” junction technique showed that its use together with an analytically derived controller can make possible the elimination of off-tracking.
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