Backward-motion control of a mobile robot with n passive off-hooked trailers

Woojin Chung, Myoungkuk Park, Kwanghyun Yoo, Jae Il Roh, Jongsuk Choi

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)


A passive multiple-trailer system provides various practical advantages for multi-functional service robots. However, motion control is difficult because the kinematic model is highly nonlinear. The kinematic design of a trailer system was proposed in prior research of ours. In this paper, it is shown how the backward motion of a robot with n passive trailers can be controlled. Once the desired trajectory of the last trailer is computed, the control input of the pushing robot is obtained through the proposed control scheme. Some experimental issues on reversing the trailer system are addressed. This paper provides an answer to the following question: "Does the system work well even if there are sensing or modeling errors?" Although it is difficult to obtain general analytic solutions for the above research question, a practical answer will be explored though simplified analysis and experiments. Experimental verifications are carried out using a mobile robot with three passive trailers. The experimental results show that backward-motion control can be successfully carried out by applying the proposed control scheme.

Original languageEnglish
Pages (from-to)2895-2905
Number of pages11
JournalJournal of Mechanical Science and Technology
Issue number11
Publication statusPublished - 2011 Nov


  • Backward-motion control
  • Passive trailer
  • Reconfigurable robot
  • Trajectory tracking
  • Under-actuated system

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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