tracailer

Paper | Video

This repository is for the paper, "Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Vehicles in Unstructured Environments".

Quick Start

Step One:

Install the ros and the requirements below.

ros dependence: (use ros noetic with Ubuntu20.04 as an example)

sudo apt install ros-noetic-tf2-geometry-msgs
sudo apt install ros-noetic-ackermann-msgs
sudo apt install libompl-dev

casadi for mpc controller:

Go to the website of casadi and install casadi. For example, you can:

git clone https://github.com/casadi/casadi.git
cd casadi

📢Important!: Open the CMakeLists.txt and set the WITH_LAPACK_DEF and WITH_QPOASES_DEF from OFF to ON, then

mkdir build && cd build
cmake ..
make
sudo make install

NOTE: We may have forgotten other dependencies 😟, sorry!

Step Two:

Build the project: (you can change the trailer num defined in src/planner/CMakeLists.txt by changing the definition of TRAILER_NUM)

git clone https://github.com/ZJU-FAST-Lab/tracailer.git
cd tracailer
catkin_make

Step Three:

run the project:

source devel/setup.bash
roslaunch planner run_all.launch

When you see the robot in the Rviz like below, you can use 2D Pose Estimate to trigger planning.

teach.mp4

Citing

If our method is useful for your research, please consider citing.

@misc{tracailer,
  title={Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments},
  author={Long Xu, Kaixin Chai, Boyuan An, Jiaxiang Gan, Qianhao Wang, Yuan Zhou, Xiaoying Li, Junxiao Lin, Zhichao Han, Chao Xu, Yanjun Cao, Fei Gao},
  year={2025},
  eprint={2502.19832},
  archivePrefix={arXiv},
  primaryClass={cs.RO}
}