ANALYSIS AND COMPUTATION OF BAND-PATH FOR TRACTOR-TRAILER WHEELED MOBILE ROBOT SYSTEM

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.