Tractor trailer steering method improves forward and backward control
A Novel Path-Tracking Algorithm for Automated Tractor-Trailer Forward and Backward Maneuvers
Robotics
Summary
Tractor-trailer vehicles are hard to steer precisely, especially when reversing, because the trailer adds complicated movements. The authors developed a new steering method that controls the trailer directly while also adjusting the tractor’s steering a little bit ahead of time. Their method works well for driving forwards and backwards without needing special setup for each vehicle. Simulations show it can track paths more accurately and stably than older methods, even with disturbances.
What this means in practice
- •For logistics fleet operators: Improve automated steering of tractor-trailer trucks for efficient loading and unloading in warehouses and yards.
- •For agriculture machinery engineers: Enable precision autonomous control of tractor-trailers in farming to navigate tight or complex field paths reliably.
- •For warehouse robotics teams: Use trailer-level lateral control combined with predictive steering to enhance autonomous vehicle maneuvering in cluttered indoor environments.$Commercial implications: This approach allows creation of advanced automated forklifts or cart movers better at tight path following, attracting warehouse automation buyers.
Authors
Alexandre Lombard, Florent Perronnet, Nicolas Gaud, Abdeljalil Abbas-Turki
Abstract
Fully autonomous tractor--trailer systems are increasingly deployed in logistics, agriculture, and industrial environments, where precise and robust path-tracking capabilities are essential. However, the articulation between the tractor and the trailer introduces additional nonlinearities and significantly complicates lateral and longitudinal control, particularly during reversing maneuvers. This paper introduces a novel path-tracking algorithm specifically designed for articulated vehicles with a single trailer. The proposed method combines a lateral control law applied at the trailer level with a short-horizon predictive adjustment of the tractor steering angle, ensuring stable convergence toward the desired path in both forward and backward motion. The approach is geometry-based and requires no per-vehicle calibration or training. Simulation studies in a high-fidelity physics simulator demonstrate the ability of the controller to match or outperform classical and state-of-the-art methods in terms of accuracy, stability, and robustness to disturbances.