Trajectory generation for a four wheel steering tractor-trailer system: a two-step method

Y. Wang, M.P. Cartmell

Research output: Contribution to journalArticle

8 Citations (Scopus)


A basic problem in the development of an intelligent vehicle/highway system (IVHS), or an autonomous mobile robot system (AMRS) is to find suitable input controls which can be used to drive the vehicle between any two configurations. In this paper a trajectory generation problem for a four-wheel-steering tractor/semi-trailer system is investigated, and it is shown that this nonholonomic constraint problem can be converted into one of finding fitting-functions satisfying certain necessary boundary conditions. Proposals for control laws are presented and simulation results for a lane change manoeuvre are given.
Original languageEnglish
Pages (from-to)381-386
Number of pages6
Issue number4
Publication statusPublished - 1998



  • trajectory generation
  • non-holonomic motion planning
  • automatic control
  • automated vehicles
  • four wheeled steering

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