Exact motion planning for tractor-trailer robots
作者： P. Svestka , J. Vleugels
DOI: 10.1109/ROBOT.1995.525626
关键词:
摘要: A tractor-trailer robot consists of a car-like tractor towing passive trailer. Due to its highly nonholonomic nature, the kinematics this type are complicated and difficult compute. We present exact closed-form solutions for kinematic parameters use them construct an efficient motion planner in absence obstacles. This local can be employed probabilistic global planner, which allows us plan motions presence
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