STEERING 3-INPUT NONHOLONOMIC SYSTEMS - THE FIRE TRUCK EXAMPLE

In this article we steer wheeled nonholonomic systems that can be repr esented in a so-called chained form. Sufficient conditions for convert ing a multiple-input system with nonholonomic velocity constraints int o a multiple-chain, single-generator chained form via state feedback a nd a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems. Our example is t he three-input nonholonomic system of a fire truck, or tiller truck. I n this three-axle system, the control inputs are the steering velociti es of both the first and third (or tiller) axles and the forward drivi ng velocity of the truck. Simulation results are given for parallel pa rking, left hand turning, right hand turning, and changing lanes. Comp arison is made to the same vehicle without tiller steering.