A Compound PRM Method for Path Planning of the Tractor-Trailer Mobile Robot

This paper researches the path planning problem for the tractor-trailer mobile robot and presents a novel environment modelling method called Compound PRM which builds the global compound roadmap by combining the local regular roadmap with the universal probabilistic roadmap. Path planning based on the Compound PRM roadmap can improve the quality of the local routes near obstacles and lower the complexity of the planning computation. Also the loss of feasible space is avoided during path planing. The simulation experiment shows that this method is very efficient in the use of tractor-trailer mobile robot path planning.