Practical path and motion planner for a tractor-trailer robot

Mariana Viale, Takashi Tsubochi, Shin'ichi Yuta

Research output: Contribution to conferencePaper

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
Pages989-996
Number of pages8
Publication statusPublished - 1997 Dec 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Viale, M., Tsubochi, T., & Yuta, S. (1997). Practical path and motion planner for a tractor-trailer robot. 989-996. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, .