Consistent Path Planning for On-Axle-Hitching Multisteering Trailer Systems.

In this paper, consistent path planning for a multisteering trailer system (MSTS) with on-axle hitching is addressed, such that all the bodies of the MSTS can follow a same motion path. A two-level path planner is designed. In the first level, a desired path profile (DPP) composed of a main path profile (MPP) that can be chosen as any of the widely used curves/splines, as well as multiple accessor...