Exact Motion Planning for Tractor-Trailer Robots
نویسندگان
چکیده
A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local planner can be employed in a probabilistic global planner, which allows us to plan motions in the presence of obstacles.
منابع مشابه
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تاریخ انتشار 1995