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A practical approach to feedback control for a mobile robot with trailer

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2 Author(s)
Lamiraux, F. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Laumond, J.P.

This paper presents a robust method to control a mobile robot towing a trailer. Both problems of trajectory tracking and steering to a given configuration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998