Model predictive driving for tractor-trailer mobile robot with an omni-directional tractor

Many researchers have studied motion control algorithm for the path tracking of tractor-trailer mobile robots. Most of these studies used a differential drive vehicle for the tractor. However, differential drive vehicles sometimes get stuck due to the limitations on their movements. In this paper, authors approach this problem by using an omnidirectional robot as a tractor. On the other hand, a differential drive vehicle without an actuator is used as a trailer vehicle. Nonlinear model predictive control considering the kinematic model of the tractor and the trailer is utilized to realize the path following and obstacle avoidance. The validity of the proposed control method is checked through the simulation.