Flatness , motion planning and trailer systems ∗
نویسندگان
چکیده
A solution of the motion planning without obstacles for the standard n-trailer system is proposed. This solution relies basically on the fact that the system is flat with the Cartesian coordinates of the last trailer as a linearizing output. The Frénet formulae are used to simplify the calculations and permit to deal with angle constraints. The general 1-trailer system, where the trailer is not directly hitched to the car at the center of the rear axle, is also flat. The geometric construction used for the standard 1-trailer system can be extended to this more realistic system. MATLAB simulations illustrate this method.
منابع مشابه
Flatness and motion planning : the car with n trailers . ∗
A solution of the motion planning without obstacles for the nonholonomic system describing a car with n trailers is proposed. This solution relies basically on the fact that the system is flat with the cartesian coordinates of the last trailer as linearizing output. The Frnet formulas are used to simplify the calculation. The 2-trailers case is treated in details and illustrated through parking...
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