Curve path tracking control for tractor-trailer mobile robot

Curve path tracking control problem for tractor-trailer mobile robot in backward motion is addressed in this paper. Because the dynamics of trailer is not stable when the tractor moves backward, the curve path tracking problem is a challenging task. A fuzzy controller via line-of-sight method is constructed. The effectiveness of the proposed controller is verified by numeric simulation results, which show that the backward curve path tracking can be successfully carried out by the proposed control method.