DocumentCode
3455051
Title
Trajectory control of trailer type mobile robots
Author
Nakamura, Michiyo ; Yuta, Shin´ichi
Author_Institution
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Volume
3
fYear
1993
fDate
26-30 Jul 1993
Firstpage
2257
Abstract
A control algorithm for a trailer-type mobile robot is proposed. With this algorithm, a trailer can move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors´ self-contained autonomous mobile robot, the Yamabico
Keywords
mobile robots; Yamabico; autonomous mobile robot; circular arc curve; mobile robot; straight line; trailer command system; trailer type mobile robots; trajectory control; Acceleration; Angular velocity; Automatic control; Control systems; Information science; Mobile robots; Numerical simulation; Remotely operated vehicles; Robot kinematics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583941
Filename
583941
Link To Document