A KIND OF PATH TRACKING CONTROLOF WHEELED MOBILE ROBOTSWITH A SINGLE TRAILER

in this paper, We formulated the kinematic model of wheeled mobile robots with a single trailerusing time scale transformation. And then, we exactly linearized the nonlinear model formulated ahead viachange of coordinates and state feedback and prcsented a kind of control algorithm. The feasibility of this al-gorithm has been verified by computer simulation.