Title :
An obstacle avoidance algorithm for a car pulling trailers with off-axle hitching
Author_Institution :
US Army Res. Office, Research Triangle Park, NC, USA
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479196
