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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2504.00315 |
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| _version_ | 1866912391333150720 |
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| author | Singh, Yuvraj Jayakumar, Adithya Rizzoni, Giorgio |
| author_facet | Singh, Yuvraj Jayakumar, Adithya Rizzoni, Giorgio |
| contents | Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized $n$-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for $n$-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_00315 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An Iterative Algorithm to Symbolically Derive Generalized n-Trailer Vehicle Kinematics Singh, Yuvraj Jayakumar, Adithya Rizzoni, Giorgio Robotics Systems and Control Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized $n$-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for $n$-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers. |
| title | An Iterative Algorithm to Symbolically Derive Generalized n-Trailer Vehicle Kinematics |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.00315 |