Title :
Kinematics and constraint analysis of tractor-trailer mobile robot
Author :
Dong, Yan ; Sun, He-xu ; Liu, Zuo-Jun ; Bao, Zhi-Yuan
Author_Institution :
Dept. of Autom., Hebei Univ. of Technol., Tianjin, China
Abstract :
Tractor-trailer mobile robot is a complicated system composed of a tractor and multiple trailers. Its path planning is complicated accordingly. The kinematics of the system is analyzed in this paper on the base of band-path concept. The transient parameters in the dynamic motion presented in this paper make the collision avoidance and path seeking easier. It also provides a kinematics model for the simulation.
Keywords :
collision avoidance; constraint theory; control system analysis; mobile robots; motion control; robot kinematics; collision avoidance; constraint analysis; kinematics model; multiple trailers; path planning; tractor-trailer mobile robot; Axles; Educational institutions; Kinematics; Mobile robots; Orbital robotics; Path planning; Roads; Robotics and automation; Sun; Wheels; Tractor-trailer mobile robot; band-path; equivalent dimension; kinematics; path planning; transient description;
Conference_Titel :
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location :
Guangzhou, China
Print_ISBN :
0-7803-9091-1
DOI :
10.1109/ICMLC.2005.1527159
