Practical path and motion planner for a tractor-trailer robot

Mariana Viale, Takashi Tsubochi, Shin'ichi Yuta

研究成果: Paper査読

9 被引用数 (Scopus)

抄録

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.

本文言語English
ページ989-996
ページ数8
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 1998 9 71998 9 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

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Practical path and motion planner for a tractor-trailer robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル