The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot
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.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
Q. Zhang et al., "The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot", Advanced Materials Research, Vols. 139-141, pp. 2121-2125, 2010