A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers

2026-09-18

AI Summary

本文提出了一种新的路径跟踪算法，通过在拖车层面应用横向控制律并结合短时域预测调整牵引车转向角的方法，解决了全自主牵引-拖车系统在前进和倒车操作中的精确路径跟踪问题。

Abstract

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.

Problem

• autonomous tractor-trailer
• path-tracking
• reversing maneuvers
• lateral control
• longitudinal control

Innovation

• path-tracking algorithm
• articulated vehicles
• lateral control law
• short-horizon predictive adjustment
• geometry-based