Path Planning of Tractor-trailer Mobile Robot in Multi-grid Circuit Map

A path planner for tractor-trailer robots based on multi-grid circuit map is proposed in this paper. The geometry of tractor-trailer is analyzed. The similarity between real physical space and grid circuit is explained in environment modeling. The path planner is designed according to the phenomenon that more current flows along the branch with fewer resistors in series and more resistors in parallel, which is similar with the aim of path planning for short and wide path. The initial paths in the circuit map are easier to add the nonholonomic and kinematics constraints for getting the final feasible path. The simulation proves the feasibility and advantage of this solution