The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot-Reference-Cited by-同舟云学术

The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot

Published:2010-10 Issue: Volume:139-141 Page:2121-2125
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Zhang Qin¹,Li Yan¹,Kamiya Yoshitsugu²

Affiliation:

1. South China University of Technology

2. Kanazawa University

Abstract

The tractor-trailer mobile robot (TTMR) is composed of a tractor and multiple trailers. It belongs to a typical nonholonomic, underactuated system. The general control theory can hardly be applied to this system. Because of the multi-body tractor-trailer mobile robot existence, the moving trajectory control is very complicated, especially backward path control becomes a difficult problem for this kind of robot control. This paper takes parking trajectory generation for example, makes tentativeness on tractor-trailer mobile robot to generate the trajectory based on Repeatedly Direct Kinematics (RDK) method. The feasible forward and backward trajectory generations algorithm for tractor-trailer mobile robot are proposed. The design complexity and existing singularity for tractor-trailer mobile robot system are solved. Simulations show the effectiveness of the proposed method.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.139-141.2121.pdf

Reference5 articles.

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