DocumentCode
424315
Title
Path planning for tractor-trailer mobile robot based on heuristic genetic algorithm
Author
Liu, Zuo-Jun ; Huang, Peng ; Huang, Jun-Lei ; Que, Jia-Lan
Volume
2
fYear
2004
fDate
26-29 Aug. 2004
Firstpage
1119
Abstract
Tractor-trailer mobile robot is a complicated system which is composed of a tractor and multiple trailers. Its path planning is complicated accordingly. The kinematics model of the robot is presented firstly. Then the conception of equivalent size is given for obstacles growing and robot shrinking. Next, the environmental map is modeled. Finally, heuristic genetic algorithm is applied for the path planning of tractor-trailer mobile robot.
Keywords
genetic algorithms; mobile robots; motion control; path planning; robot kinematics; heuristic genetic algorithm; path planning; robot kinematics; tractor-trailer mobile robot; Axles; Genetic algorithms; Mobile robots; Orbital robotics; Path planning; Roads; Robot kinematics; Robotics and automation; Shafts; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN
0-7803-8403-2
Type
conf
DOI
10.1109/ICMLC.2004.1382357
Filename
1382357
Link To Document