제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
- /
- Pages.1190-1195
- /
- 2003
Backward motion control of a mobile robot with n passive trailers
- Park, Myoung-Kuk (Intelligence Robotics Research Center, Korea Institute of Science and Technology (KIST)) ;
- Chung, Woo-Jin (Intelligence Robotics Research Center, Korea Institute of Science and Technology (KIST)) ;
- Kim, Mun-Sang (Intelligence Robotics Research Center, Korea Institute of Science and Technology (KIST)) ;
-
Song, Jae-Bok
(Intelligent Robotics Laboratory, Department of Mechanical Engineering, Korea University)
- 발행 : 2003.10.22
초록
In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot