Project Overview
Control‑based planning and control for autonomous vehicles performing complex backing maneuvers in industrial yards. The work addresses maneuvering trucks with trailers in tight spaces while avoiding obstacles.
As Controls Team Lead at ISEE (isee.ai), I created the controls team and led several engineers. I developed control‑based planning methods and control algorithms tailored to the unique dynamics of truck–trailer combinations during backing maneuvers.
Technical Challenge
Backing a truck with a trailer presents unique control challenges due to non‑holonomic constraints and inherent instability. The trailer amplifies steering inputs, making precise control difficult. Our solution used control‑based planning with models of the combination vehicle to generate feasible, safe trajectories aligned with yard constraints.
Project Overview
The ISEE Autonomous Trailer Backing project focused on control‑based planning and control for autonomous vehicles performing complex backing maneuvers in industrial yard environments. The work addressed the challenges of maneuvering trucks with trailers in tight spaces while avoiding obstacles.
As Controls Team Lead at ISEE (isee.ai), I created the controls team and led several engineers. I developed control‑based planning methods and control algorithms tailored to the unique dynamics of truck–trailer combinations during backing maneuvers.
Technical Challenge
Backing a truck with a trailer presents unique control challenges due to non‑holonomic constraints and inherent instability. The trailer amplifies steering inputs, making precise control difficult. Our solution used control‑based planning with models of the combination vehicle to generate feasible, safe trajectories aligned with yard constraints.
Technical Contributions
Trajectory Planning Algorithms
Developed sophisticated path planning algorithms that account for the complex kinematics and dynamics of truck-trailer systems during backing maneuvers.
Constraint Optimization
Implemented advanced optimization techniques to handle non-holonomic constraints, obstacle avoidance, and operational limitations in industrial environments.
Real-Time Control Systems
Designed control systems capable of executing complex maneuvers in real-time while maintaining safety and precision requirements.
Impact & Results
In customer yard operations, the system achieves centimeter‑level lateral accuracy during docking and parking.
Learn More
Technical Contributions
Kinematic Modeling
Developed comprehensive kinematic models for truck–trailer systems, capturing steering-to-trailer response during backing.
Control‑Based Planning
Generated smooth, feasible trajectories that respect non‑holonomic constraints and operational limits with obstacle avoidance.
Control Algorithm Development
Built robust controllers to execute trajectories while compensating for model uncertainties and yard disturbances.
Simulation & Validation
Created MATLAB/Simulink models to test and validate across scenarios and conditions.
Impact & Results
In customer yard operations, the system achieves centimeter‑level lateral accuracy during docking and parking.