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arXiv · 2311.14573

Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles

Theodor Westny·Björn Olofsson·Erik Frisk
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Abstract

To study the effects of uncertainty in autonomous motion planning and control, an 8-DOF model of a tractor-semitrailer is implemented and analyzed. The implications of uncertainties in the model are then quantified and presented using sensitivity analysis and closed-loop simulations. The analysis reveals that the significance of various model parameters varies depending on the specific scenario under investigation. By using sampling-based closed-loop predictions, uncertainty bounds on state variable trajectories are determined. Our findings suggest the potential for the inclusion of our method within a robust predictive controller or as a driver-assistance system for rollover or lane departure warnings.

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Theodor Westny, Björn Olofsson, Erik Frisk. 2023-11-24. Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles. https://arxiv.org/abs/2311.14573

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