DocumentCode
2326406
Title
Kinematics and constraint analysis of tractor-trailer mobile robot
Author
Dong, Yan ; Sun, He-xu ; Liu, Zuo-Jun ; Bao, Zhi-Yuan
Author_Institution
Dept. of Autom., Hebei Univ. of Technol., Tianjin, China
Volume
3
fYear
2005
fDate
18-21 Aug. 2005
Firstpage
1380
Abstract
Tractor-trailer mobile robot is a complicated system composed of a tractor and multiple trailers. Its path planning is complicated accordingly. The kinematics of the system is analyzed in this paper on the base of band-path concept. The transient parameters in the dynamic motion presented in this paper make the collision avoidance and path seeking easier. It also provides a kinematics model for the simulation.
Keywords
collision avoidance; constraint theory; control system analysis; mobile robots; motion control; robot kinematics; collision avoidance; constraint analysis; kinematics model; multiple trailers; path planning; tractor-trailer mobile robot; Axles; Educational institutions; Kinematics; Mobile robots; Orbital robotics; Path planning; Roads; Robotics and automation; Sun; Wheels; Tractor-trailer mobile robot; band-path; equivalent dimension; kinematics; path planning; transient description;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location
Guangzhou, China
Print_ISBN
0-7803-9091-1
Type
conf
DOI
10.1109/ICMLC.2005.1527159
Filename
1527159
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