A Geometric Approach to Motion Control of a Standard Tractor-Trailer Robot

In this paper, we use a simple geometric approach to control the motion of a standard tractor-trailer robot from some initial positions to a goal position. The solution to the motion control problem is proposed in two steps. Firstly, the control laws are proposed that can drive the robot to a goal position whilst observing the mechanical singularities associated with the system. Secondly, the control laws are adjusted so that the robot can avoid any number of fixed obstacles in the workspace and safely reach the goal position. The proposed algorithm is verified using computer simulations.