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

2026-06-30

AI Summary

This study addresses the insufficient path-tracking accuracy of articulated tractor-trailer systems in small-scale agricultural operations by proposing a nonlinear model predictive control (NMPC) approach based on a nonlinear kinematic model. For the first time, the trailer’s kinematics are explicitly modeled and directly incorporated as the control objective, overcoming the conventional limitation of solely regulating the tractor’s position. Through receding-horizon optimization, the method achieves high-precision trailer path tracking in a ROS/Gazebo simulation environment. Experimental results demonstrate a significant reduction in trailer path deviation during both straight-line travel and headland turning maneuvers, thereby validating the effectiveness and novelty of the proposed approach for precision agriculture applications.

Abstract

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, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.

Problem

• path-tracking
• articulated tractor-trailer system
• non-linear kinematic model
• precision agriculture
• trailer position deviation

Innovation

• non-linear model predictive control
• articulated tractor-trailer system
• path tracking
• kinematic modeling
• precision agriculture