Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended pat...

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Bibliographic Details
Main Authors: Tianrui Zhao, Peibo Li, Yu Yuan, Lin Zhang, Yanzheng Zhao
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Actuators
Subjects:
trajectory re-planning
tracking control
tractor–trailer system
multiple constraints
Online Access:https://www.mdpi.com/2076-0825/13/3/109

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