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Motion planning and control for Hilare pulling a trailer

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3 Author(s)
Lamiraux, F. ; Dept. of Comput. Sci., Rice Univ., Houston, TX, USA ; Sekhavat, S. ; Laumond, J.-P.

This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical constraints of the system (bounded velocity and bounded acceleration). Finally, the motion control is addressed. Due to the geometric transformation for a virtual robot, we show how to reduce the problem to a classical approach of trajectory tracking for a mobile robot moving forward only. The experimental results presented include two types of robot-trailer connection systems

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Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 4 )