9 accepted papers
This paper presents a comprehensive inertial aided 3D LiDAR SLAM system with hybrid geometric primitives in large-scale environments, including a tightly-coupled LiDAR-Inertial-Odometry (LIO), a global mapping module supported by learning-based loop closure detection and a sub-maps matching algorith…
This letter presents a practical method for parameter estimation of a full-size industrial car-like tractor. With only on-vehicle sensors including three encoders, an IMU and a 3D LiDAR, we estimate the effective radius of rear wheels, ratio between the steering wheel angle and road wheel angle, the
This paper presents a novel dataset targeting three types of challenging environments for autonomous driving, i.e., the industrial logistics environment, the undulating hill environment and the mixed complex urban environment. To the best of the author’s knowledge, similar dataset has not been publi…
This paper presents a novel solution for online trajectory planning of a full-size tractor-trailers vehicle composed of a car-like tractor and arbitrary number of passive full trailers. The motion planning problem for such systems was rarely addressed due to the complex nonlinear dynamics. A simulat…
In this paper, we propose a dynamic state estimation framework for lateral control of a heavy tractor-trailers system using only mass-produced low-cost sensors. This issue is challenging since the lateral velocity of the lead tractor is difficult to measure directly. The performance of existing dyna…
This letter reports a general path following framework for the tractor-trailers system in Global Positioning System (GPS)-denied environments. Compared to existing methods, this approach prioritizes a robust, cost-optimized, and easy-to-implement solution. First, to achieve accurate path following,
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement. This paper presents a trajectory tracking control approach fo…
Most existing controllers for Car-Like Mobile Robots (CLMR) are designed to handle dynamic effects by decoupling speed and steering controls, also assume that full states are accessible, which are unrealistic for real-world applications. This paper presents a combined speed and steering control syst…
Most existing trajectory tracking controllers are based on non-skidding and non-slipping assumptions, also assume that full states are accessible, which is unrealistic for real-world applications due to tire-road interaction. This paper presents a novel vision-based approach to achieve high performa…