Backward-motion control of a mobile robot with n passive off-hooked trailers
- Backward-motion control of a mobile robot with n passive off-hooked trailers
- 정우진; 박명국; 유광현; 노재일; 최종석
- Passive trailer; Reconfigurable robot; Backward-motion control; Trajectory tracking; Under-actuated system
- Issue Date
- Journal of Mechanical Science and Technology
- VOL 25, NO 11, 2895-2905
- A passive multiple-trailer system provides various practical advantages for multi-functional service robots. However, motion control is
difficult because the kinematic model is highly nonlinear. The kinematic design of a trailer system was proposed in prior research of ours.
In this paper, it is shown how the backward motion of a robot with n passive trailers can be controlled. Once the desired trajectory of the
last trailer is computed, the control input of the pushing robot is obtained through the proposed control scheme. Some experimental issues
on reversing the trailer system are addressed. This paper provides an answer to the following question: “Does the system work well even
if there are sensing or modeling errors?” Although it is difficult to obtain general analytic solutions for the above research question, a
practical answer will be explored though simplified analysis and experiments. Experimental verifications are carried out using a mobile
robot with three passive trailers. The experimental results show that backward-motion control can be successfully carried out by applying
the proposed control scheme.
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- KIST Publication > Article
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