A passive multiple trailer system for indoor service robots

Jaehyoung Lee, Woo Jin Chung, Munsang Kim, Chongwon Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of this paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in practical sense. Stability issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages827-832
Number of pages6
Volume2
Publication statusPublished - 2001 Dec 1
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Light trailers
Robots
Trajectories
Computer simulation
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, J., Chung, W. J., Kim, M., Lee, C., & Song, J-B. (2001). A passive multiple trailer system for indoor service robots. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 827-832)

A passive multiple trailer system for indoor service robots. / Lee, Jaehyoung; Chung, Woo Jin; Kim, Munsang; Lee, Chongwon; Song, Jae-Bok.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2001. p. 827-832.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, J, Chung, WJ, Kim, M, Lee, C & Song, J-B 2001, A passive multiple trailer system for indoor service robots. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 827-832, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 01/10/29.
Lee J, Chung WJ, Kim M, Lee C, Song J-B. A passive multiple trailer system for indoor service robots. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. 2001. p. 827-832
Lee, Jaehyoung ; Chung, Woo Jin ; Kim, Munsang ; Lee, Chongwon ; Song, Jae-Bok. / A passive multiple trailer system for indoor service robots. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2001. pp. 827-832
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