TY - JOUR
T1 - Backward-motion control of a mobile robot with n passive off-hooked trailers
AU - Chung, Woojin
AU - Park, Myoungkuk
AU - Yoo, Kwanghyun
AU - Roh, Jae Il
AU - Choi, Jongsuk
N1 - Funding Information:
This work was supported in part by the MKE under the Human Resources Development Program for Convergence Robot Specialists. This work was also supported in part by the NRF grant funded by the MEST (2011-0016225). This work was also supported in part by Basic Science Research Program through the NRF funded by the MEST (2010-0022609). This work was also supported in part by the MKE under the ITRC support program.
PY - 2011/11
Y1 - 2011/11
N2 - 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.
AB - 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.
KW - Backward-motion control
KW - Passive trailer
KW - Reconfigurable robot
KW - Trajectory tracking
KW - Under-actuated system
UR - http://www.scopus.com/inward/record.url?scp=81455147398&partnerID=8YFLogxK
U2 - 10.1007/s12206-011-0909-7
DO - 10.1007/s12206-011-0909-7
M3 - Article
AN - SCOPUS:81455147398
SN - 1738-494X
VL - 25
SP - 2895
EP - 2905
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 11
ER -