Motion Planning and Control for Mobile Robot with Two Trailers

Jin Cheng; Yong Zhang; Zhonghua Wang

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Motion Planning and Control for Mobile Robot with Two Trailers

机译：具有两个拖车的移动机器人的运动计划和控制

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摘要

The motion planning problem of a mobile robot with two trailers is addressed in this paper. Due to the nonholonomic constraints on the transverse motion and the angle limitation between the bodies, the searching of an accessible path avoiding obstacles while satisfying the kinematics of the mobile robot with two trailers is much more challenging. Improvements have been made on the classical RRT (rapidly-exploring random trees) algorithm to speed up the searching process. To reverse the mobile robot stably, a feedback control law is proposed and applied to solve the trace of the mobile robot. Simulation results illustrate that the improved RRT algorithm is competent for the motion planning problem of the mobile robot with two trailers and the path planned is satisfied with the kinematics of the mobile robot.

机译：本文解决了带有两个拖车的移动机器人的运动计划问题。由于对横向运动的非完整约束和车体之间的角度限制，在满足障碍物同时满足两个拖挂机器人的运动学要求的情况下，寻找避免障碍物的可访问路径更具挑战性。对经典RRT（快速探索随机树）算法进行了改进，以加快搜索过程。为了稳定地使移动机器人反向，提出了一种反馈控制律，并将其应用于求解移动机器人的轨迹。仿真结果表明，改进的RRT算法可以解决带有两个挂车的移动机器人的运动规划问题，并且通过移动机器人的运动学满足了规划的路径。

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来源
《Journal of information and computational science》 |2015年第13期|5183-5195|共13页
作者
Jin Cheng; Yong Zhang; Zhonghua Wang;
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作者单位

School of Electrical Engineering, University of Jinan, Jinan 250022, China;

School of Electrical Engineering, University of Jinan, Jinan 250022, China;

School of Electrical Engineering, University of Jinan, Jinan 250022, China;

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正文语种 eng
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关键词
Rapidly-exploring Random Tree; Path Planning; Kinematics Constraints; Dynamic Domain;

机译：快速探索随机树;路径规划;运动学约束;动态域;

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1. Hierarchical Motion Planning for Multisteering Tractor–Trailer Mobile Robots with On-Axle Hitching [J] . Jing Yuan Mechatronics, IEEE/ASME Transactions on . 2017,第4期

机译：带有轴上挂钩的多转向拖拉机-拖车移动机器人的分层运动计划
2. Backward-motion control of a mobile robot with n passive off-hooked trailers [J] . Woojin Chung, Myoungkuk Park, Kwanghyun Yoo, Journal of Mechanical Science and Technology . 2011,第11期

机译：具有n个被动摘下挂车的移动机器人的后向运动控制
3. Backward-motion control of a mobile robot with n passive off-hooked trailers [J] . Woojin Chung, Myoungkuk Park, Kwanghyun Yoo, Journal of Mechanical Science and Technology . 2011,第11期

机译：具有n个被动摘下挂车的移动机器人的后向运动控制
4. Motion planning algorithm for tractor-trailer mobile robot in unknown environment [C] . Cheng Jin, Zhang Yong, Wang Zhonghua Natural Computation (ICNC), 2012 Eighth International Conference on . 2012

机译：未知环境中拖挂式移动机器人的运动规划算法
5. Motion Planning and Control of Autonomous Mobile Robots: Model Based and Model Free Methods [D] . Fahad, Muhammad . 2019

机译：自主移动机器人的运动规划与控制：基于模型和模型免费方法
6. Motion Planning of Autonomous Mobile Robot Using Recurrent Fuzzy Neural Network Trained by Extended Kalman Filter [O] . Qidan Zhu, Yu Han, Peng Liu, 2019

机译：扩展卡尔曼滤波训练的递归模糊神经网络在自主移动机器人的运动规划中的应用。
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Motion Planning and Control for Mobile Robot with Two Trailers

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