Backward-motion control of a mobile robot with n passive off-hooked trailers

Title
Backward-motion control of a mobile robot with n passive off-hooked trailers
Authors
정우진박명국유광현노재일최종석
Keywords
Passive trailer; Reconfigurable robot; Backward-motion control; Trajectory tracking; Under-actuated system
Issue Date
2011-11
Publisher
Journal of Mechanical Science and Technology
Citation
VOL 25, NO 11, 2895-2905
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/41205
ISSN
1738-494X
Appears in Collections:
KIST Publication > Article
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