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.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Petr Svestka, Jules Vleugels
• Keywords: Cient Motion Planner, ICRA 1995, Probabilistic Global Planner, Robotics, Tractor-trailer Robot