Publications

Authors:

Rigo, Damiano; Saccon, Alessandro; Alirezaei, Mohsen; Lefeber, Erjen; Sansonetto, Nicola; Muradore, Riccardo

Title:

State Estimation for a Tractor Semi-trailer System using a Minimum-Energy Filter

Year:

2024

Type of item:

Contributo in atti di convegno

Tipologia ANVUR:

Contributo in Atti di convegno

Language:

Inglese

Congresso:

European Control Conference, ECC 2024

Place:

Stockholm, Svezia

Period:

25 June 2024 - 28 June 2024

Page numbers:

1-6

Keyword:

Lie groups, State estimation, Minimum energy filter

Short description of contents:

In this article we apply a second-order minimum-energy filter based on Lie groups to the problem of parking a truck with a semi-trailer in a docking station. The use of the filter, that exploits the geometry of Lie groups to estimate the truck and trailer pose, is useful to improve the precision of the state and thus perform better controls. We consider two different types of measurements: the first consists of GPS-like devices that detect the positions of the front wheels of the truck and the rear wheels of the trailer, and the second improves the measurement of the rear wheels with the measurement of the pose of the trailer with a LIDAR sensor. The accuracy of the LIDAR is useful for having a better estimate when parking in reverse. We show two simulations with two different datasets.

Product ID:

141644

Handle IRIS:

11562/1141949

Last Modified:

May 23, 2025

Bibliographic citation:

Rigo, Damiano; Saccon, Alessandro; Alirezaei, Mohsen; Lefeber, Erjen; Sansonetto, Nicola; Muradore, Riccardo, State Estimation for a Tractor Semi-trailer System using a Minimum-Energy Filter  in European Control Conference, ECC 2024 , Proceedings of "European Control Conference, ECC 2024" , Stockholm, Svezia , 25 June 2024 - 28 June 2024 , 2024 , pp. 1-6

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