In this paper a new leader-follower formation of nonholonomic mobile robots is studied. The follower is a car-like vehicle and the leader is a tractor pulling a trailer. The leader moves along assigned trajectories and the follower is to maintain a desired distance and orientation to the trailer. A sliding mode control scheme is proposed for asymptotically stabilizing the vehicles to a time-var...

In this paper, an online receding robust predictive control scheme is proposed for inputconstrained semi-trailer system with delay and disturbance. The controller method meets the requirements of control constraint and, based on dual-mode control, the method is obtained by online optimization of performance index. The performance index is the cumulative sum of quadratic weighted value of minima...

In this paper it is proposed the extension of an efficient method employed for non-holonomic mobile robots to the path tracking of tractors with a trailer. The main advantage of this pure geometric technique is that no kinematic model of the vehicle is needed, which is an interesting property when working in irregular terrain or with tracks instead of wheels. The differences of applying this me...

This paper shows that EV range-extender (RXT) with a trailer will provide better mileage than the plug-in hybrid (PHEV) when an appropriate system is used. A weekly driving pattern is assumed to be: 30 km (6 days a week), 100 km (1 day a week). The RXT system made for this evaluation is composed of a pure BEV and a trailer with an electric generator. Japan 10-15 mode is used for the calculation...

A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local plann...

Presented is an algorithm for automatic production of a video abstract of a feature film, similar to a movie trailer. It selects clips from the original movie based on detection of special events like dialogs, shots, explosions and text occurrences, and on general action indicators applied to scenes. These clips are then assembled to form a video trailer using a model of editing. Additional cli...

Abstract Investigation of road vehicles in term their dynamics is very important task. There are assessed two main points view, i.e. the driving safety and ride comfort for passenger. This article aimed at analysis a single-axle trailer by means real tests. Several manoeuvres have been performed evaluated, which, when has towed passenger car. As output parameters, acceleration signals measured ...

This paper develops control laws for backing up a simulated truck-and-trailer to a loading dock in a parking lot. Evolutionary programming (EP) with a set of mutation operators is used to automatically generate optimal control laws. EP produces an optimal nonlinear control strategy that takes the state variables as inputs and determines the direction and angle by which the truck’s front wheels ...

The health care needs of Gulf Coast residents displaced by Hurricane Katrina in 2005 who remain in travel trailer parks nearly three years later have not been evaluated. We conducted a population-based assessment of the health care access of residents of these travel trailer parks in Mississippi. Our findings indicate a worsening of chronic disease, mental illness, and barriers to health care a...

We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equations), which we illustrate by steering the two-trailer system in a neighborho...