The Research and Simulation of Trajectory Generation Method for Tractor-Trailer Mobile Robot

Abstract:

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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 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

Online since:

October 2010

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Price:

$35.00

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