Title :
Trajectory control of trailer type mobile robots
Author :
Nakamura, Michiyo ; Yuta, Shin´ichi
Author_Institution :
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Abstract :
A control algorithm for a trailer-type mobile robot is proposed. With this algorithm, a trailer can move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors´ self-contained autonomous mobile robot, the Yamabico
Keywords :
mobile robots; Yamabico; autonomous mobile robot; circular arc curve; mobile robot; straight line; trailer command system; trailer type mobile robots; trajectory control; Acceleration; Angular velocity; Automatic control; Control systems; Information science; Mobile robots; Numerical simulation; Remotely operated vehicles; Robot kinematics; Wheels;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583941
