Path following control for tractor-trailer mobile robots with two kinds of connection structures

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 2533-2538

  Yuan, Jing ^a   Huang, Yalou ^a  

^a NANKAI UNIVERSITY   (China)

Author keywords

Off axle hitching; On axle hitching; Path following control; Tractor trailer mobile robot

Indexed keywords

COMPUTER SIMULATION; KINEMATICS; LYAPUNOV FUNCTIONS; MOTION CONTROL; MOTION PLANNING; PROBLEM SOLVING;

CONNECTION STRUCTURES; MOTION CHARACTERISTICS; OFF-AXLE HITCHING; ON-AXLE HITCHING; TRACTOR-TRAILER MOBILE ROBOTS (TTMR);

MOBILE ROBOTS;

EID: 34250678445     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281702     Document Type: Article

References (14)

1. P. Bolzern, R. M. DeSantis, A. Locatelli and D. Masciocchi, "Path-tracking for articulated vehicles with off-axle hitching", IEEE Trans. on Control Systems Technology, vol.6, no.4, pp. 515-523, 1998.
2. C. Samson, "Control of chained systems: application to path following and time-varying point-stabilization of mobile robots", IEEE Trans. on Automatic Control, vol.40, no.1, pp. 64-77, 1995.
3. A. Astolfi, P. Bolzern and A. Locatelli, "Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: a Lyapunov-based approach", IEEE Trans. on Robotics and Automation, vol.20, no.1, pp. 154-160, 2004.
4. F. Lamiraux, S. Sekhavat and J. P. Laumond, "Motion planning and control for Hilare pulling a trailer", IEEE Trans. on Robotics and Automation, vol. 15, no.4, pp.640-651, 1999.
5. C. Altafini, A. Speranzon and B. Wahlberg, "A feedback control scheme for reversing a truck and trailer vehicle", IEEE Trans. on Robotics and Automation, vol. 17, no.6, pp.915-922, 2001.
6. D. H. Kim and J. H. Oh, "Experiments of backward tracking control for trailer system", IEEE Int. Conf. on Robotics and Automation, Michigan, USA, pp. 19-22, 1999.
7. G. Xu, "Research on tractor-trailer wheeled mobile robot system", Ph.D Dissertation, Nankai University, 1998.
8. A. Tayebi and A. Rachid, "Path following control law for an industrial mobile robot", IEEE Int. Conf. on Control Applications, Dearborn, USA, pp.703-707, 1996.
9. W. Wu, H. Chen and Y. Wang, "A novel global tracking control method for mobile robots", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Kyongju, Korea, pp.623-628, 1999.
10. D. H. Kim and J. H. Oh, "Globally asymptotically stable tracking control of mobile robots", IEEE Int. Conf. on Control Applications, Trieste, Italy, pp. 1297-1301, 1998.
11. G. Oriolo, A. D. Luca and M. Vendittelli, "WMR control via dynamic feedback linearization: design, implementation and experimental validation", IEEE Trans. on Control Systems Technology, vol.10, no.6, pp. 835-852, 2002.
12. W. Wu, H. Chen and Y. Wang, "Backstepping design for path tracking of mobile robots", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Kyongju, Korea, pp. 1822-1827, 1999.
13. A. D. Luca, G. Oriolo and C. Samson, "Feedback control of a nonholonomic car-like robot", Chapter 4 in Planning Robot Motion, Laumond JP Eds., Springer-Verlag, 1997,pp. 185-188.
14. M. Egerstedt, X. Hu and A. Stotsky, "Control of mobile platforms using a virtual vehicle approach", IEEE Trans. on Automatic Control, vol.46, no. 11, pp. 1777-1782, 2001.