Title :
Flatness, motion planning and trailer systems
Author :
Rouchon, Pierre ; Fliess, Michel ; Levine, Jean ; Martin, Philippe
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Saint-Michel, France
Abstract :
A solution of the motion planning without obstacles for the standard a-trailer system is proposed. This solution relies basically on the fact that the system is flat with the Cartesian coordinates of the last trailer as a linearizing output. The Frenet formulae are used to simplify the calculations and permit to deal with angle constraints. The general 1-trailer system, where the trailer is not directly hitched to the car at the center of the rear axle, is also flat. The geometric construction used for the standard 1-trailer system can be extended to this more realistic system. MATLAB simulations illustrate this method
Keywords :
linearisation techniques; mobile robots; path planning; 1-trailer system; Cartesian coordinates; Frenet formulae; MATLAB simulations; a-trailer system; flatness; geometric construction; linearizing output; motion planning; trailer systems; Algebra; Axles; Control systems; Differential equations; Geometry; Motion control; Output feedback;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325686
