DocumentCode
2852107
Title
An obstacle avoidance algorithm for a car pulling trailers with off-axle hitching
Author
Bushnell, L.G.
Author_Institution
US Army Res. Office, Research Triangle Park, NC, USA
Volume
4
fYear
1995
fDate
13-15 Dec 1995
Firstpage
3837
Abstract
A new algorithm is presented for planning motion among obstacles for a mobile robot system configured as a car pulling many trailers with off-axle hitching. In the special case of equal length hitches, upper bounds on the off-tracking of the trailers and hitches are the key component to the new path planning method, which only needs to plan a collision-free path for an “enlarged” lead car
Keywords
automobiles; mobile robots; path planning; collision-free path; enlarged lead car; mobile robot system; obstacle avoidance; off-axle hitching; path planning method; trailers; Axles; Manufacturing; Mobile robots; Motion planning; Nuclear power generation; Orbital robotics; Path planning; Turning; Upper bound; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.479196
Filename
479196
Link To Document