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Article summary:
1. This letter reports a general path following framework for the tractor-trailers system in GPS-denied environments.
2. A robust controller is designed on the basis of a newly derived tractor dynamic model and the lateral force compensation.
3. A novel visual-inertial estimator is developed to allow real-time translational velocity and position estimation for dynamic feedback control.
Article analysis:
The article provides a comprehensive overview of the development of a robust path following framework for tractor-trailers systems in GPS-denied environments. The authors present an innovative approach that prioritizes cost optimization, robustness, and ease of implementation, while also providing full-scale experimental validation to demonstrate its feasibility.
The article is generally reliable and trustworthy, as it provides detailed information about the proposed approach and its components, as well as rigorous theoretical proofs to support its claims. Furthermore, the authors provide full-scale experiments to validate their approach, which further adds to its credibility.
However, there are some potential biases in the article that should be noted. For example, the authors focus mainly on their own proposed approach without exploring other existing methods or counterarguments in detail. Additionally, they do not discuss any possible risks associated with their approach or potential limitations that could arise from using it in practice.
In conclusion, this article provides a comprehensive overview of an innovative path following framework for tractor-trailers systems in GPS-denied environments and is generally reliable and trustworthy; however, there are some potential biases that should be noted when evaluating its trustworthiness and reliability.