A passive multiple trailer system for indoor service robots

Jaehyoung Lee, Woojin Chung, Munsang Kim, Chongwon Lee, Jeabok 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
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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

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