DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM
LI Hong-chao1, HUANG Ya-lou1, XIA Yi1, XU Guo-hua2, TAN Min2
1. Dept. of Computer Science, Nankai Univ, Tianjin 3000071; 2. Lab of Complex System & Intelligent Techniques, Institute of Automation, Academic Beijing 100080
李宏超, 黄亚楼, 夏毅, 徐国华, 谭民. 带拖车的移动机器人包络路径分析与描述[J]. 机器人, 2001, 23(4): 334-337..
LI Hong-chao, HUANG Ya-lou, XIA Yi, XU Guo-hua, TAN Min. DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM. ROBOT, 2001, 23(4): 334-337..
Abstract：Tractor-trailer mobile robot is a complicated system, which is composed of a tractor and multiple trailers. The path planning problem of the system of this kind can not be solved using the path planning algorithm for single body car-like robot. This paper proposes the concept of band-path and gives the computation method of the band-path, which describes the characteristics of the path and the relationship between the path and restrictions. Based on those, an approach to the path planning for tractor-trailer mobile robot is supposed.
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