Collision Avoidance Control with Motion Information for Multiple Tractor-trailer Vehicles

In this paper, a closed-form feedback control strategy is developed to guarantee the safety maneuvers for N tractor-trailer vehicles with on-axle hitching structures, which resolves the non-cooperative collision avoidance problem between self-segments and the cooperative one among multiple vehicles. Motion information of the vehicle chains is introduced to make the comprehensive assessments for the collision risk. This allows the multi-agent system under the proposed control laws to make the real-time decision for acquiring the smoother motion trajectories and better dynamic performance. Lyapunov-based stability analysis is provided to prove that the system states can converge to the desired points or remain within bounded position errors with respect to reference trajectories without collisions. A simulation is also presented to illustrate the effectiveness of the proposed control laws.