Flatness, motion planning and trailer systems 论文
2002引用 250
Control and Dynamics of Mobile RobotsRobotic Path Planning AlgorithmsVehicle Dynamics and Control Systems
详细信息
- 发表日期
- 2002-12-30
- 发表年份
- 2002
关键词
Control and Dynamics of Mobile RobotsRobotic Path Planning AlgorithmsVehicle Dynamics and Control Systems
摘要
A solution of the motion planning without obstacles for the standard a-trailer system is proposed. This solution relies basically on the fact that the system is flat with the Cartesian coordinates of the last trailer as a linearizing output. The Frenet formulae are used to simplify the calculations and permit to deal with angle constraints. The general 1-trailer system, where the trailer is not directly hitched to the car at the center of the rear axle, is also flat. The geometric construction used for the standard 1-trailer system can be extended to this more realistic system. MATLAB simulations illustrate this method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>