A motion control approach to reverse a mobile robot with two off-axle hitching trailers

The backward motion control problem for the mobile robot with two off-axle hitching trailers is firstly addressed in this paper. For the kinematic model of this system can not be transformed to chained form or power form due to the complexity added by the off-hitching connection, the motion problem of this kind of system is known as difficult. This paper proposes a new approach to stably reverse a mobile robot with two off-axle hitching trailers. With the proposed feedback control law, the robot can moves along a desired curve trace from any initial configuration with asymptotical stability. Numeric simulation results illustrate the validity of the proposed method.