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Path Following Control for Tractor-Trailer Mobile Robot Based on Virtual Desired Path

机译:基于虚拟所需路径的拖拉机 - 拖车移动机器人控制跟踪

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This paper addresses the problem of path following control for tractor-trailer mobile robot (TTMR). Firstly, for several kinds of normal real desired paths (RDP), we design a scheme to construct virtual desired paths (VDP) such that all the bodies of TTMR will array on both sides of the RDP symmetrically and closely when the tractor follows the VDP instead of the RDP. In such a way, the width of the road covered by the whole system will decrease. Secondly, a new control strategy in which the tractor is controlled to follow the VDP is proposed based on the Lyapunov method. The simulation results show the validity and the effectiveness of the proposed strategy.
机译:本文解决了拖拉机拖车移动机器人(TTMR)控制后的路径问题。首先,对于几种正常实际期望的路径(RDP),我们设计一个结构来构造虚拟所需的路径(VDP),使得TTMR的所有主体将在拖拉机遵循VDP时对称而仔细地在RDP的两侧上阵列而不是RDP。以这样的方式,整个系统覆盖的道路的宽度将减小。其次,基于Lyapunov方法,提出了一种新的控制策略,其中拖拉机被控制为遵循VDP。仿真结果表明了拟议策略的有效性和有效性。

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