Exact Motion Planning for Tractor-Trailer Robots

10 years 3 months ago
Exact Motion Planning for Tractor-Trailer Robots
A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local planner can be employed in a probabilistic global planner, which allows us to plan motions in the presence of obstacles.
Petr Svestka, Jules Vleugels
Added 26 Aug 2010
Updated 26 Aug 2010
Type Conference
Year 1995
Where ICRA
Authors Petr Svestka, Jules Vleugels
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