Paper Title:
The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot
  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.

  Info
Periodical
Advanced Materials Research (Volumes 139-141)
Edited by
Liangchi Zhang, Chunliang Zhang and Tielin Shi
Pages
2121-2125
DOI
10.4028/www.scientific.net/AMR.139-141.2121
Citation
Q. Zhang, Y. Li, Y. Kamiya, "The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot", Advanced Materials Research, Vols. 139-141, pp. 2121-2125, 2010
Online since
October 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Shu Wen Zhou, Si Qi Zhang, Guang Yao Zhao
Abstract:Handling behaviour of articulated vehicles combination is more complex and less predictable than that of non-articulated vehicles. It is...
549
Authors: Ding Xuan Zhao, Ying Zhao, Ying Jie Li
Chapter 2: Manufacturing Technology
Abstract:The dynamics equation of tractor and aircraft multibody system is developed using Lagrange method. Tire model represent by spring and damper...
640
Authors: Xue Jun Ding, Yu Ping He
Chapter 4: Deep Sea Mining Equipments, Complex Equipment Design and Extreme Manufaturing
Abstract:This paper introduces a design of active trailer steering system (ATS) for multi-trailer articulated vehicles (MTAHVs) using...
865
Authors: Hong Bo Liu, Neng Jian Wang
III. Engineering Design
Abstract:The kinematic model of a tractor pushing an airplane without rod on the flat ground was established. Based on Lyapunov stability theory,...
169