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To study the effects of uncertainty in autonomous motion planning andcontrol, an 8-DOF model of a tractor-semitrailer is implemented and analyzed.The implications of uncertainties in the model are then quantified andpresented using sensitivity analysis and closed-loop simulations. The analysisreveals that the significance of various model parameters varies depending onthe specific scenario under investigation. By using sampling-based closed-looppredictions, uncertainty bounds on state variable trajectories are determined.Our findings suggest the potential for the inclusion of our method within arobust predictive controller or as a driver-assistance system for rollover orlane departure warnings.

Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles