Abstract:
A tractor-trailer robot consists of a car-like tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicat...Show MoreMetadata
Abstract:
A tractor-trailer robot consists of a car-like tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and difficult to compute. We present exact closed-form solutions for the kinematic parameters of a tractor-trailer robot and use them to construct an exact and efficient motion planner in the absence of obstacles. This local planner can be employed in a probabilistic global planner, which allows us to plan motions in the presence of obstacles.
Date of Conference: 21-27 May 1995
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-1965-6
Print ISSN: 1050-4729
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