Motion Planning and Control for Hilare Pulling a Trailer
Résumé
This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical constraints of the system (bounded velocity and bounded acceleration). Finally motion control is addressed: thanks to a geometric transformation introducing a virtual robot, we show how to reduce the problem to a classical approach of trajectory tracking for a mobile robot moving only forward. Experimental results include two types of robot-trailer connection systems.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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