Dynamic trajectory planning for a standard trailer system.
Bibhya Nand Sharma, Jito Vanualailai, Subhash Ajay. Chandra · 2006
This paper presents a set of continuous time-invariant acceleration controllers in a dynamic trajectory planning that guarantees convergence and collision avoidance properties of a standard tractor-trailer mobile robot in a priori known workspace. The avoidance scheme, introduced within a potential field framework via the Lyapunov method, not only allows the avoidance of fixed and moving obstacles, but also sufficiently exploits the boundary lines of a parking bay to ensure posture stability. The effectiveness of the proposed control laws is demonstrated via simulations.