@inProceedings{
 title = {Reversing control of a car with a trailer using a driver assistance system},
 type = {inProceedings},
 year = {2010},
 identifiers = {[object Object]},
 id = {4c9ac689-1aec-3653-b13b-a47ab3eb43f8},
 created = {2017-11-10T18:50:23.018Z},
 file_attached = {true},
 profile_id = {0a17cdee-f944-3536-b518-2cfd7a0b3313},
 group_id = {1fc87704-3c7f-3e0e-ab3b-7af8b79238c4},
 last_modified = {2017-11-10T18:50:23.124Z},
 read = {false},
 starred = {false},
 authored = {false},
 confirmed = {false},
 hidden = {false},
 notes = {Vehicle is pushing trailers forward while stabilizing. Prototype for system with only one trailer. Camera is only for showing the view to the driver.},
 private_publication = {false},
 abstract = {A passive trailer system can be used efficiently for transportation tasks. However, backward motion control of a trailer system is difficult because it is an open loop unstable system. In our previous researches, we have shown that n passive trailers can be successfully controlled by an ommni-directional or a two-wheel-differential mobile robot. However, a passive trailer system pulled by a car is widely used in practical environments. Unlike mobile robots, a car-like mobile robot has nonholonomic constraints and limitation of the steering angle. In this paper, we tried to solve the backward motion control problem of the trailer system with a car by proposing two strategies. First, we proposed Driver Assistance System (DAS). By using the DAS, a driver can control the trailer system as a forward motion control instead of a backward motion control directly. A driver only secure the rear view of the last passive trailer, and select the control input to drive the last passive trailer. The DAS converts the control input of a driver into the velocity and a steering angle of a car by inverse kinematics. The DAS can be achieved combining several electronic devices which are recently embedded in a car in general. Second, we proposed a kinematic configuration which is connecting a passive trailer to the front bumper of a car for increasing the feasible region of backward motion control. Performances of the proposed control strategy and the kinematic configuration are verified by theoretical verifications and experimental results.},
 bibtype = {inProceedings},
 author = {Roh, Jaeil and Chung, Woojin},
 booktitle = {Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO}
}

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