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Regul. Chaotic Dyn., 2016, Volume 21, Issue 7-8, Pages 775–791 (Mi rcd224)  

Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation

Andrey A. Ardentov

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

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.

Keywords: mobile robot, trailer, motion planning, sub-Riemannian geometry, nilpotent approximation

Funding Agency Grant Number
Russian Foundation for Basic Research 16-31-00396-mol_a
The author acknowledges support by the Russian Foundation for Basic Research, Project No. 16-31-00396-mol_a.


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

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Document Type: Article
MSC: 22E25, 53A17, 58E25, 70Q05
Received: 09.09.2016
Accepted:15.11.2016
Language: English

Citation: Andrey A. Ardentov, “Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation”, Regul. Chaotic Dyn., 21:7-8 (2016), 775–791

Citation in format AMSBIB
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\by Andrey A. Ardentov
\paper Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation
\jour Regul. Chaotic Dyn.
\yr 2016
\vol 21
\issue 7-8
\pages 775--791
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\crossref{https://doi.org/10.1134/S1560354716070017}
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