Pushing motion control of n passive off-hooked trailers by a car-like mobile robot

Kwanghyun Yoo, Woo Jin Chung

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

17 Citations (Scopus)

Abstract

There are two different motions of a trailer system that consists of a car and n passive off-hooked trailers. When a car "pulls" n passive trailers, a trailer system moves forward. A trailer system moves backward when a car "pushes" n passive trailers. Backing up a trailer system is difficult because it is an open loop unstable problem. In this paper, we investigate the backward motion control problem of a car with n passive trailers. We have shown that n passive trailers can be successfully controlled by an omni-directional mobile robot in our prior works. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with n passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting n passive trailers to the front bumper of a car to improve the backward motion control performance. By adopting the new design, a car pushes n passive trailers by its forward motion. A practical trailer-pushing control algorithm was also proposed. Stability analysis of the controller under kinematic modeling error was presented. Theoretical verification and experimental results proved that the control strategy of pushing n passive trailers by forward motion of a car can be successfully implemented.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4928-4933
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

    Fingerprint

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yoo, K., & Chung, W. J. (2010). Pushing motion control of n passive off-hooked trailers by a car-like mobile robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4928-4933). [5509235] https://doi.org/10.1109/ROBOT.2010.5509235