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
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.
mobile robot, trailer, motion planning, sub-Riemannian geometry, nilpotent approximation
|Russian Foundation for Basic Research
|The author acknowledges support by the Russian Foundation for Basic Research, Project No. 16-31-00396-mol_a.
MSC: 22E25, 53A17, 58E25, 70Q05
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
\by Andrey A. Ardentov
\paper Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation
\jour Regul. Chaotic Dyn.
Citing articles on Google Scholar:
Related articles on Google Scholar:
|Number of views:|