Motion planning and control for Hilare pulling a trailer: experimental issues
نویسندگان
چکیده
This paper describes a real experiment in nonholonomic motion planning and control. It was performed on the mobile robot Hilare-2-bis pulling a trailer.
منابع مشابه
Motion planning and control for Hilare pulling a trailer
| This paper 0 deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical const...
متن کاملTO APPEAR IN IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1 Motion Planning and Control for Hilare Pulling aTrailerF
| This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical constra...
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