Assisted Guidance for a tractor-trailer with off axle hitching

Abstract A computer assisted guidance system for a tractor trailer is developed. From a practical point of view, the ideais to provide a tractor trailer operator with a mean to simplify execution of parking manoeuvres. From a theoretical point of view, we aim at providing experimental evidence of the validity of recent input-output exact linearization approaches to articulated vehicles control. These objectives are pursued by designing the guidance system, by implementing an instrumented test bench to evaluate it, and by carrying out appropriate experimental tests.