Backward movement control of a truck system with multiple trailers using neurocontroller with genetic algorithms

摘要

This paper presents the backward movement control of a truck system with multiple trailers using neurocontroller (NC) evolved by genetic algorithms (GA). In our laboratory, we were able to control the backing of the two-trailer system using NC evolved by GA. However, there has been a problem that if the system has more than three trailers, constructing NC becomes difficult. In this study, we propose a step up training method that is able to construct NC for the system with three trailers. Simulation results show that the proposed method has good evolution performance.