Abstract:
This work studies a number of approaches to solving the motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can also be used for controlling a mobile robot with a trailer. However, in cases where the position of the trailer is of importance, i.e., when it is moving backward, a more complex approach should be applied. At the end of the article, such an approach, based on recent works in sub-Riemannian geometry, is described. It is applied to the problem of reparking a trailer and implemented in the algorithm for parking a mobile robot with a trailer.
Keywords:
mobile robot, trailer, motion planning, sub-Riemannian geometry, nilpotent approximation.
Citation:
Andrey A. Ardentov, “Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation”, Regul. Chaotic Dyn., 21:7-8 (2016), 775–791
\Bibitem{Ard16}
\by Andrey A. Ardentov
\paper Controlling of a Mobile Robot with a Trailer and Its Nilpotent Approximation
\jour Regul. Chaotic Dyn.
\yr 2016
\vol 21
\issue 7-8
\pages 775--791
\mathnet{http://mi.mathnet.ru/rcd224}
\crossref{https://doi.org/10.1134/S1560354716070017}
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\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85016015131}
Linking options:
https://www.mathnet.ru/eng/rcd224
https://www.mathnet.ru/eng/rcd/v21/i7/p775
This publication is cited in the following 11 articles:
Yu. L. Sachkov, “Left-invariant optimal control problems on Lie groups that are integrable by elliptic functions”, Russian Math. Surveys, 78:1 (2023), 65–163
A. A. Ardentov, E. M. Artemova, “Abnormal extremals in the sub-Riemannian problem for a general model of a robot with a trailer”, Sb. Math., 214:10 (2023), 1351–1372
E. M. Artemova, A. A. Kilin, “A Nonholonomic Model and Complete Controllability
of a Three-Link Wheeled Snake Robot”, Rus. J. Nonlin. Dyn., 18:4 (2022), 681–707
Andrei Ardentov, Eero Hakavuori, “Cut time in the sub-Riemannian problem on the Cartan group”, ESAIM: COCV, 28 (2022), 12
A. Bouzar Essaidi, M. Haddad, H.E. Lehtihet, “Minimum-time trajectory planning under dynamic constraints for a wheeled mobile robot with a trailer”, Mechanism and Machine Theory, 169 (2022), 104605
Andrei Ardentov, Ivan Gubanov, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
Andrei Ardentov, Kirill Yefremov, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
A. A. Ardentov, A. P. Mashtakov, “Control of a mobile robot with a trailer based on nilpotent approximation”, Autom. Remote Control, 82:1 (2021), 73–92
A. A. Ardentov, I. S. Gubanov, “Modelirovanie parkovki avtomobilya s pritsepom vdol putei Markova–Dubinsa i Ridsa–Sheppa”, Programmnye sistemy: teoriya i prilozheniya, 10:4 (2019), 97–110
Arkadiusz Mielczarek, Ignacy Duleba, 2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR), 2019, 87
Dmitry Tatievskyi, “SYNTHESIS OF THE LAWS GOVERNING THE NON-HOLONOMIC MODEL OF A TWO-LINK ROAD TRAIN WITH REVERSE MOTION (OFF-AXLE HITCHING MODEL)”, EUREKA: Physics and Engineering, 2 (2018), 40
Citation in format AMSBIB
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