Abstract
Mathematical models of a road train are developed to study both its direct and reverse motion. The laws for the automatic steering system turning vehicle steering wheels to achieve the required trailer direction when moving reverse are synthesized. A road train with a hitching unit on the tractor truck rear axle directly schematic constructions (an “on-axle hitching” model) are used. The kind of kinematic mathematic model for describing a road train moving reverse at low speeds without wheels side slipping is satisfactory. In this condition its motion is defined by geometry only independent from masses, momentums and friction forces. The steering laws are synthesized with the help of alpha-stabilizing approach, according to Lyapunov’s direct method using fuzzy logics mathematical tool and a solution method depending on the Riccati equation state (SDRE). The task of reaching a set goal has been solved by calculating the folding angle when the target belongs to the calculated path for the case of curvilinear motion and via calculating the matching tractor truck and trailer orientation angles for direct motion. The received results have been rendered as phase portraits in the Maple environment and meshes in Meshlab, simulated in Unity 3D and with a robotic installation getting control information generated automatically
Highlights
THE SYNTHESIS OF STEERING RULES FOR trailer angles
Certain steering laws have been controlling it with Firebase preferring the ROS platform instead
The synthesized control laws for the road train reverse motion based on alpha stabilization and Lyapunov’s direct method have allowed simulations of such motion in a Unity 3D environment and generating control information for a specially designed robotic installation, depicted in the figure below (Fig. 1)
Summary
THE SYNTHESIS OF STEERING RULES FOR trailer angles. This task solutionAutonomous cargo traffic systems are at present an object of numerous studies with works on road trains automation to be STABILIZING ROAD TRAIN REVERSE MOTION TO SOLVE THE TASK OF REACHING A SET GOAL is described in detail below. THE SYNTHESIS OF STEERING RULES FOR trailer angles. Autonomous cargo traffic systems are at present an object of numerous studies with works on road trains automation to be STABILIZING ROAD TRAIN REVERSE MOTION TO SOLVE THE TASK OF REACHING A SET GOAL is described in detail below. The aim of our research is developing mathematical models of a vehicle-trailer system to distinguished among them. The. Dmitry Tatievskyi synthesize steering laws for the complexity of road trains driving. Postgraduate student kind of system reverse motion. Zaporizhzhya State Engineering Academy completed to achieve this: when moving reverse. The synthesis of several possible steering laws is accomplished during the conducted research.
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