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Controlling of a mobile robot with a trailer and its nilpotent approximation

  • Nonlinear Dynamics & Mobile Robotics
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Abstract

This work studies a number of approaches to solving the motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can also be used for controlling a mobile robot with a trailer. However, in cases where the position of the trailer is of importance, i.e., when it is moving backward, a more complex approach should be applied. At the end of the article, such an approach, based on recent works in sub-Riemannian geometry, is described. It is applied to the problem of reparking a trailer and implemented in the algorithm for parking a mobile robot with a trailer.

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  1. Program Systems Institute of RAS, Pereslavl-Zalessky, Yaroslavl Region, 152020, Russia

    Andrey A. Ardentov

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Ardentov, A.A. Controlling of a mobile robot with a trailer and its nilpotent approximation. Regul. Chaot. Dyn. 21, 775–791 (2016). https://doi.org/10.1134/S1560354716070017

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  • DOI: https://doi.org/10.1134/S1560354716070017

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