A New Parameterization of a MARV for Adaptive Control in Backward Movements

Abstract

This study introduces a simplified parametric model of the backward movements of aMulti-articulated Robotic Vehicle (MARV). The model underwent simulation testing and experimental validation, considering a MARV setup comprising a tractor and a trailer with varying loads. This scenario mirrors situations such as truck-trailer maneuvers in reverse or applications involving a tractor moving a passive trailer in settings like ports, airports, or warehouses. The primary concern is enabling these articulated vehicles to navigate without collisions between their components (referred to as jackknife), which could halt their movement. The experiments utilized a pre-existing adaptive dynamic controller to assess whether incorporating new parameters about the trailer’s influence on the tractor element within the differential robot model could enhance MARV navigation. This approach aims to develop a more accurate model for MARV, taking into account the effects of loaded and unloaded trailers. The findings indicate that accounting for these effects reduces navigation errors, albeit at the expense of marginally increased model complexity.