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Exact motion planning for tractor-trailer robots

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2 Author(s)
Svestka, P. ; Dept. of Comput. Sci., Utrecht Univ., Netherlands ; Vleugels, J.

A tractor-trailer robot consists of a car-like tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and difficult to compute. We present exact closed-form solutions for the kinematic parameters of a tractor-trailer robot and use them to construct an exact and efficient 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

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995