Practical path and motion planner for a tractor-trailer robot

Mariana Viale, Takashi Tsubochi, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

We propose a practical approach which allow a tractor-trailer robot to plan and navigates a path considering its shape and its kinematics constraint, however, without generating the configuration space for a sized robot. The operator can choose his preference of forward or backward paths by motion cost assignments. The path is generated in three stages: (1) road map analysis, (2) robot's states and transitions states generation, and (3) path search and motions generations. The planner has been tested on a tractor-trailer robot using different trailer sizes, demonstrating its ability for automatic generation of path which may include even backward motions.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages989-996
Number of pages8
Volume2
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sep 71998 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Viale, M., Tsubochi, T., & Yuta, S. (1997). Practical path and motion planner for a tractor-trailer robot. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 989-996). Piscataway, NJ, United States: IEEE.