On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor
Oskar Ljungqvist,Daniel Axehill,Henrik Pettersson,Oskar Ljungqvist,Daniel Axehill,Henrik Pettersson
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's structurally unstable joint-angle kinematics in backward motion and the car-like tractor's curvature limitations which can cause the vehicle segments to...
