TY - GEN
T1 - Trajectory control of trailer type mobile robots
AU - Nakamura, Michiyo
AU - Yuta, Shin'ichi
PY - 1993/12/1
Y1 - 1993/12/1
N2 - In this paper, a control algorithm for a trailer type mobile robots is proposed. Within this algorithm, a trailer is able to move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors' selfcontained autonomous mobile robot, the 'Yamabico'.
AB - In this paper, a control algorithm for a trailer type mobile robots is proposed. Within this algorithm, a trailer is able to move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors' selfcontained autonomous mobile robot, the 'Yamabico'.
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M3 - Conference contribution
AN - SCOPUS:0027873165
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 2257
EP - 2263
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -