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
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;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1382357
