A multisteering trailer system: conversion into chained form usingdynamic feedback
Tilbury, D.; Sordalen, O.J.; Bushnell, L.; Sastry, S.S.
Robotics and Automation, IEEE Transactions on
Volume 11, Issue 6, Dec 1995 Page(s):807 - 818
Digital Object Identifier 10.1109/70.478428
Summary:This paper examines the kinematic model of an autonomous mobile
robot system consisting of a chain of steerable cars and passive
trailers, linked together with rigid bars. The state space and kinematic
equations of the system are defined, and it is shown how these kinematic
equations may be converted into a multiinput chained form. The
advantages of the chained form are that many methods are available for
the open-loop steering of such systems as well as for
point-stabilization; some of these methods are discussed here. Dynamic
state feedback is used to convert the system to this multiinput chained
form. It is shown how the dynamic state feedback that is used in this
paper corresponds to adding, in front of the steerable cars, a chain of
virtual axles which diverges from the original chain of trailers. Two
different example systems are also presented, along with simulation
results for a parallel-parking maneuver
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