苑晶, 黄亚楼, 康叶伟, 刘作军, 孙凤池. 带拖车轮式移动机器人包络路径的分析与量化[J]. 机器人, 2003, 25(3): 222-225,281..
YUAN Jing, HUANG Ya-lou, KANG Ye-wei, LIU Zuo-jun, SUN Feng-chi. ANALYSIS AND COMPUTATION OF BAND-PATH FOR TRACTOR-TRAILER WHEELED MOBILE ROBOT SYSTEM. ROBOT, 2003, 25(3): 222-225,281..
Abstract：Tractor trailer wheeled mobile robot system is composed of a tractor and multiple trailers, its motion trajectories are much more complex than that for single body robot. This paper analyzes the band-path for this kind of robot system and proposes the computation method for the band-path considering the motion trajectories of robot and the distribution of obstacles. The simulation experiment shows the sense of the computation method mentioned above.
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