Control of a mobile robot with passive multiple trailers

Myoungkuk Park, Woojin Chung, Munsang Kim, Jaebok Song

Research output: Contribution to journalConference articlepeer-review

43 Citations (Scopus)


A mobile service robot can achieve reconfigurability by exploiting passive trailer systems. Reconfigurability provides significant practical advantages in order to deal with various service tasks. However, a motion control problem of a passive multiple trailer system is difficult, mainly because a kinematic model is highly nonlinear. It is shown how a robot with n passive trailers can be controlled in backward direction. Once a desired trajectory of a last trailer is computed, then the control input of a pushing robot is obtained by the proposed control scheme. A kinematic design of a trailer system is proposed in our prior work. It is shown that the high performance of trajectory tracking is also valid for the backward motion control problem. Experimental verifications were carried out with the PSR-2(Public Service Robot) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

Original languageEnglish
Pages (from-to)4369-4374
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number5
Publication statusPublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1


  • Backward motion control
  • Nonlinear kinematic model
  • Passive trailer

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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