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
Backward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
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