Automation department seminar
"Scalable methods for kinematic reconstruction of joint angles for multi-trailer vehicles from speed information"
You are cordially invited to participate in the seminar of Guest Professor Maciej Michałek, Professor at the Institute of Automatic Control and Robotics of the Technical University of Poznań.
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Le 05/09/2025
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10:00 - 11:00
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Seminar
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Mont Houy Campus
Claudin Lejeune Building 1
amphi E2
Summary
Online availability of instantaneous joint angle values in articulated (automated/smart) vehicles is crucial for purposes of supervision and diagnosis, localization, feedback control and movement planning.
Direct and accurate measurement of joint angles in the joints of multi-trailer vehicles is usually costly and mechanically challenging. In the lecture, we propose and discuss two alternative methods (of the algebraic and integral type) for online reconstruction of joint angles using only the velocity information of the vehicle segments.
Thanks to a modular representation of the vehicle kinematics, the online reconstruction methods are highly scalable with the number of trailers and applicable to N-trailer vehicles comprising an active tractor and an arbitrary number of N passive fixed-wheel (non-steering) trailers.
The reconstruction methods considered require only information on the angular and longitudinal velocities of the vehicle segments, making joint angle reconstruction relatively inexpensive and effective under low-speed motion conditions.
The performance of the proposed methods will be illustrated by experimental validation results obtained in forward and reverse motion scenarios using a full-scale three-trailer intralogistics vehicle (tow train).
Biography
Maciej Marcin Michałek received a PhD and a Doctor of Science (habilitation) in the field of automatic control and robotics from Poznań University of Technology (PUT), Poznań, Poland, in 2006 and 2015 respectively.
He currently works as a full professor at PUT's Institute of Automatic Control and Robotics.
His research interests include: modeling and design of control systems for non-holonomic systems, in particular mobile robots, N-trailer structures and intelligent/automated vehicles.
Dr. Michałek is an IEEE Senior Member; he chaired the Polish Section of the IEEE Robotics & Automation Society for the periods 2020-2021 and 2022-2023.
He was a member of the editorial boards of the Journal of Intelligent & Robotic Systems (2011-2023) and the Journal of the Franklin Institute (2020-2022).
He is currently Associate Editor of the IEEE Transactions of Cybernetics and the IEEE Transactions on Aerospace and Electronic Systems.