Control of a mobile robot with passive multiple trailers

Myoungkuk Park, Woo Jin Chung, Munsang Kim, Jae-Bok Song

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

41 Citations (Scopus)

Abstract

A mobile service robot can achieve reconfigurability by exploiting passive trailer systems. Reconfigurability provides significant practical advantages in order to deal with various service tasks. However, a motion control problem of a passive multiple trailer system is difficult, mainly because a kinematic model is highly nonlinear. It is shown how a robot with n passive trailers can be controlled in backward direction. Once a desired trajectory of a last trailer is computed, then the control input of a pushing robot is obtained by the proposed control scheme. A kinematic design of a trailer system is proposed in our prior work. It is shown that the high performance of trajectory tracking is also valid for the backward motion control problem. Experimental verifications were carried out with the PSR-2(Public Service Robot) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4369-4374
Number of pages6
Volume2004
Edition5
Publication statusPublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

Other

OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans, LA
Period04/4/2604/5/1

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Keywords

  • Backward motion control
  • Nonlinear kinematic model
  • Passive trailer

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Park, M., Chung, W. J., Kim, M., & Song, J-B. (2004). Control of a mobile robot with passive multiple trailers. In Proceedings - IEEE International Conference on Robotics and Automation (5 ed., Vol. 2004, pp. 4369-4374)