Analysis of Trailer Position Error in an Autonomous Robot-Trailer System With Sensor Noise

Author

Hodo, David W. ; Hung, John Y. ; Bevly, David M. ; Millhouse, D. Scott

Author_Institution

Auburn Univ., Auburn

fYear

2007

fDate

4-7 June 2007

Firstpage

2107

Lastpage

2112

Abstract

A low cost solution for controlling trailer lateral position in a robotic tractor-trailer system is being considered. In this paper, several practical issues involved in the implementation of such a system are presented. Instruments for navigation and control consist of a single GPS receiver and a hitch-mounted sensor for the measurement of the angle between robot (tractor) and trailer. In previous work, the authors examined the effects of errors in the hitch-angle measurement on path tracking performance. This analysis was expanded to include the effects of noise in the GPS measurements. The relative merits of mounting the GPS receiver on the robot or trailer are considered.

Keywords

Global Positioning System; angular measurement; mobile robots; position control; road vehicles; sensors; GPS receiver; angle measurement; autonomous robot tractor-trailer system; hitch-mounted sensor; sensor noise; trailer lateral position control; Control systems; Costs; Geophysical measurements; Global Positioning System; Goniometers; Mobile robots; Position measurement; Robot kinematics; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on

Conference_Location

Vigo

Print_ISBN

978-1-4244-0754-5

Electronic_ISBN

978-1-4244-0755-2

Type

conf

DOI

10.1109/ISIE.2007.4374933

Filename

4374933