Lucas Genzelis

Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model

Marina Murillo, Guido Sanchez, Nestor Deniz, Lucas Genzelis, Leonardo Giovanini

This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, thi…Read more