Real-Time Obstacle Avoidance for trailer-like Systems

The obstacle avoidance problem associated to a multisteered general 1-trailer is studied in this work by considering the method of artificial potential fields. It is proposed a control strategy based on artificial potential fields that generate a trajectory to be followed by the tractor that represents, at the same time, a reference for the trailer. The control laws proposed in this paper are experimentally implemented on a prototype built at the laboratory.

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