The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Backward-Motion Control of Multiple Off-Hooked Trailers Using a Car-Like Mobile Robot

차량형 로봇을 이용한 다중 Off-Hooked 트레일러의 후진 제어

  • 정우진 (고려대학교 기계공학부) ;
  • 유광현 (고려대학교 기계공학부)
  • Received : 2009.07.31
  • Accepted : 2009.09.25
  • Published : 2009.11.30
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Abstract

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

Keywords

References

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