Cart (Loading....) | Create Account
Close category search window
 

Pushing motion control of n passive off-hooked trailers by a car-like mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kwanghyun Yoo ; Sch. of Mech. Eng., Korea Univ., Seoul, South Korea ; Woojin Chung

There are two different motions of a trailer system that consists of a car and n passive off-hooked trailers. When a car “pulls” n passive trailers, a trailer system moves forward. A trailer system moves backward when a car “pushes” n passive trailers. Backing up a trailer system is difficult because it is an open loop unstable problem. In this paper, we investigate the backward motion control problem of a car with n passive trailers. We have shown that n passive trailers can be successfully controlled by an omni-directional mobile robot in our prior works. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with n passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting n passive trailers to the front bumper of a car to improve the backward motion control performance. By adopting the new design, a car pushes n passive trailers by its forward motion. A practical trailer-pushing control algorithm was also proposed. Stability analysis of the controller under kinematic modeling error was presented. Theoretical verification and experimental results proved that the control strategy of pushing n passive trailers by forward motion of a car can be successfully implemented.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.