Trailer reversing is a problem frequently considered in the literature, usually
with fairly complex non-linear control theory based approaches.  In this video,
we present a simple method for stabilizing a tractor-trailer system to a
trajectory based on the notion of controlling the hitch-angle of the
trailer rather than the steering angle of the tractor. The method is
intuitive, provably stable, and shown to be viable through various
experimental results conducted on our test platform, the CSIRO Autonomous
Tractor.

This document is encoded as a MP4 object that should play on most modern
multimedia players.

Contacts:
Cedric Pradalier <cedric.pradalier@csiro.au>



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