Trajectory control of trailer type mobile robots

Michiyo Nakamura, Shin'ichi Yuta

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

15 Citations (Scopus)

Abstract

In this paper, a control algorithm for a trailer type mobile robots is proposed. Within this algorithm, a trailer is able to move along a straight line and a circular arc curve both in forward and backward directions. A trailer command system which specifies the path of trailer type robot as straight lines or circular arcs has also been designed and implemented on a real experimental trailer type mobile robot. The effectiveness of the proposed control method is verified by numerical simulations and experiments using the authors' selfcontained autonomous mobile robot, the 'Yamabico'.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages2257-2263
Number of pages7
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Nakamura, M., & Yuta, S. (1993). Trajectory control of trailer type mobile robots. In Anon (Ed.), 1993 International Conference on Intelligent Robots and Systems (pp. 2257-2263). (1993 International Conference on Intelligent Robots and Systems). Publ by IEEE.