Curve Path Tracking Control for Tractor-trailer Mobile Robot

摘要：

Curve path tracking control problem for tractortrailer mobile robot in backward motion is addressed in this paper. Because the dynamics of trailer is not stable when the tractor moves backward, the curve path tracking problem is a challenging task. A fuzzy controller via line-of-sight method is constructed. The effectiveness of the proposed controller is verified by numeric simulation results, which show that the backward curve path tracking can be successfully carried out by the proposed control method.

关键词： curve path tracking fuzzy control mobile robot trailer line-of-sight

作者: Jin Cheng Yong Zhang Zhonghua Wang

作者单位: School of Control Science and Engineering University of Jinan Jinan, China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin, China

会议类型: 国际会议

会议名称: 2011 Eighth International Conference on Fuzzy System and Knowledge Discovery(第八届模糊系统与知识发现国际会议 FSKD 2011)

会议地点: 上海

会议语种:英文

页码: 505-509

在线出版日期: 2011-07-26（万方平台首次上网日期，不代表论文的发表时间）