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

被引：0
|
作者：
Zhang, Qin [1 ]
Li, Yan [1 ]
Kamiya, Yoshitsugu [2 ]
机构：
[1] South China Univ Technol, Sch Mech & Automot Engn, Guangzhou, Guangdong, Peoples R China
[2] Kanazawa Univ, Dept Mech Syst Engn, Kanazawa, Ishikawa 9201192, Japan
来源：
MANUFACTURING ENGINEERING AND AUTOMATION I, PTS 1-3 | 2011年 / 139-141卷
关键词：
Tractor-trailer mobile robots (TTMR); Backward path control; Repeatedly Direct Kinematics (RDK) method;
D O I：
10.4028/www.scientific.net/AMR.139-141.2121
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2121 / +
页数：2
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