A multisteering trailer system: conversion into chained form using dynamic feedback

Author

Tilbury, Dawn ; Sordalen, Ole Jakob ; Bushnell, Linda ; Sastry, S. Shankar

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

11

Issue

6

fYear

1995

fDate

12/1/1995 12:00:00 AM

Firstpage

807

Lastpage

818

Abstract

This paper examines the kinematic model of an autonomous mobile robot system consisting of a chain of steerable cars and passive trailers, linked together with rigid bars. The state space and kinematic equations of the system are defined, and it is shown how these kinematic equations may be converted into a multiinput chained form. The advantages of the chained form are that many methods are available for the open-loop steering of such systems as well as for point-stabilization; some of these methods are discussed here. Dynamic state feedback is used to convert the system to this multiinput chained form. It is shown how the dynamic state feedback that is used in this paper corresponds to adding, in front of the steerable cars, a chain of virtual axles which diverges from the original chain of trailers. Two different example systems are also presented, along with simulation results for a parallel-parking maneuver

Keywords

feedback; mobile robots; robot dynamics; robot kinematics; state-space methods; autonomous mobile robot system; chained form; dynamic state feedback; kinematic equations; kinematic model; multiinput chained form; multisteering trailer system; open-loop steering; parallel-parking maneuver; passive trailers; point-stabilization; state-space equations; steerable cars; virtual axles; Axles; Control systems; Equations; Kinematics; Military computing; Mobile robots; Motion planning; State feedback; Velocity control; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.478428

Filename

478428