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Null space-based control with gain modulation applied to a MARV in backward movement.

Diego Nunes Bertolani1, Vinícius Pacheco Bacheti2, Mário Sarcinelli-Filho2

  • 1Universidade Federal do Espírito Santo - UFES, Av. Fernando Ferrari, 514 - Goiabeiras, Vitória, 29075-910, Espírito Santo, Brazil; Federal Institute of Espírito Santo, IFES campus Guarapari, Alameda Francisco Vieira Simões, 720 - Aeroporto, Guarapari, 29216-795, Espírito Santo, Brazil(1).

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Summary

This study introduces a novel controller for multi-articulated robot vehicles (MARVs) moving backward. The controller effectively manages path following and obstacle avoidance, reducing jackknifing risk for improved maneuverability.

Keywords:
Collision avoidanceJackknife preventionMulti-articulated robotic vehicleNull space-based behavioral controlPath-following control

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Area of Science:

  • Robotics
  • Control Systems
  • Autonomous Navigation

Background:

  • Multi-articulated robot vehicles (MARVs) present unique control challenges due to their complex dynamics.
  • Backward motion control and obstacle avoidance are critical for MARV applications in confined or dynamic environments.
  • Jackknifing is a significant risk in articulated vehicle control, particularly during reverse maneuvers.

Purpose of the Study:

  • To develop and validate a controller for guiding a MARV in reverse along a specified path.
  • To integrate robust obstacle avoidance capabilities (both fixed and moving) into the MARV's control system.
  • To mitigate the risk of jackknifing through adaptive control gain modulation.

Main Methods:

  • Utilized null space-based control techniques to manage concurrent path following and obstacle avoidance tasks.
  • Implemented adaptive control gain modulation to prevent jackknifing during backward motion.
  • Conducted laboratory-scale experiments with a MARV towing one and two trailers.
  • Performed simulations with a MARV towing three trailers to assess scalability.

Main Results:

  • Experimental validation confirmed the controller's effectiveness in guiding a MARV with trailers.
  • The controller successfully managed conflicting tasks of path following and obstacle avoidance.
  • Demonstrated reduction in jackknifing risk through modulated control gains.
  • Simulations indicated the controller's potential for larger articulated chains and avoidance of moving obstacles.

Conclusions:

  • The proposed controller enables stable and safe backward navigation for MARVs with multiple trailers.
  • The null space-based approach effectively integrates path following and obstacle avoidance.
  • The modulation of control gains is crucial for preventing jackknifing in articulated vehicles.
  • The controller shows promise for real-world applications involving complex articulated robotic systems.