- 차량형 로봇을 이용한 다중 Off-Hooked 트레일러의 후진 제어
- ㆍ 저자명
- 정우진,유광현,Chung. Woo-Jin,Yoo. Kwang-Hyun
- ㆍ 간행물명
- 로봇학회논문지
- ㆍ 권/호정보
- 2009년|4권 4호|pp.273-280 (8 pages)
- ㆍ 발행정보
- 한국로봇학회
- ㆍ 파일정보
- 정기간행물| PDF텍스트
- ㆍ 주제분야
- 기타
It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.