Article

A New Path-Tracking Algorithm for Forward and Reverse Maneuvers of Tractor-Trailers

The paper proposes a path-tracking algorithm for articulated vehicles with a single trailer. It applies a lateral control law at the trailer level and makes short-horizon predictive adjustments to the tractor steering angle, so that both forward and reverse motion converge stably to the target path. The method is geometry-based and requires no per-vehicle calibration or training. In a high-fidelity physics simulation, the steady-state or final lateral error on straight-line, circular-arc, and reverse docking trajectories was 0.02–0.05 m. The authors tested it on a small-scale tractor-trailer robot, with the controller running on a low-cost microcontroller; under about 200 ms of pose-detection latency, the lateral error in repeated reverse docking was below 13 mm.

Part of the event: Path Tracking Algorithm Proposed for Articulated Tractor-Trailer Forward and Reverse Motion

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