Path following control for tractor-trailer mobile robots with two kinds of connection structures

被引：10

作者：

Yuan, Jing ^{[1
]}

Huang, Yalou

机构：

[1] Nankai Univ, Coll Informat Tech Sci, Tianjin 300071, Peoples R China

[2] Nankai Univ, Coll Software, Tianjin 300071, Peoples R China

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

tractor-trailer mobile robot; path following control; on-axle hitching; off-axle hitching;

D O I：

10.1109/IROS.2006.281702

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problems of the forward and backward path following control for tractor-trafler mobile robots (TTMR) with connection structures of on-axle hitching and off-axle hitching. Firstly, the kinematics is described and the motion characteristics are analyzed. Then, by Lyapunov method we design a global path following controller for single-body mobile robot and extend it to the forward path following control of the TTMIR. Furthermore, by the kinematics transformation and the backstepping technique respectively, we propose approaches to the backward path following control for TTNM with two kinds of connection structures based on the above controller. Finally, a set of simulations is presented to show the validity of our approach.

引用

页码：2533 / 2538

页数：6

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