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 language | English |
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| Pages | 989-996 |
| Number of pages | 8 |
| Publication status | Published - 1997 Dec 1 |
| Event | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr Duration: 1998 Sept 7 → 1998 Sept 11 |
Other
| Other | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) |
|---|---|
| City | Grenoble, Fr |
| Period | 98/9/7 → 98/9/11 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications