Motion Planning and Control for Hilare Pulling a Trailer

Florent Lamiraux (1) , Sepanta Sekhavat (2, 3) , Jean-Paul Laumond (2)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 SHARP - Automatic Programming and Decisional Systems in Robotics

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 constraints of the system (bounded velocity and bounded acceleration). Finally motion control is addressed: thanks to a geometric transformation introducing a virtual robot, we show how to reduce the problem to a classical approach of trajectory tracking for a mobile robot moving only forward. Experimental results include two types of robot-trailer connection systems.

Mots clés: Mobile robot with trailer; motion control; Nonholonomic path planning

Domaines: Robotique [cs.RO]

Florent Lamiraux, Sepanta Sekhavat, Jean-Paul Laumond. Motion Planning and Control for Hilare Pulling a Trailer. IEEE Transactions on Robotics and Automation, 1999, 15 (4), pp.640-652. ⟨10.1109/70.781968⟩. ⟨hal-02295152⟩