A multisteering trailer system: conversion into chained form using dynamic feedback

Abstract

Abstract-This paper examines the kinematic model of an autonomous mobile robot system consisting of a chain of steerable cars and passive trailers, liked together with rigid bars. The state space and kinematic equations of the system are defined, and it is shown how these kinematic equations may be converted into a multiinput chained form. The advantages of the chained form are that many methods are available for the open-loop steering of such systems as well as for point-stabilization; some of these methods are discussed here. Dynamic state feedback is used to convert the system to this multiinput chained form. It is shown how the dynamic state feedback that is used in this paper corresponds to adding, in front of the steerable cars, a chain of virtual axles which diverges from the original chain of trailers.Two different example systems are also presented, along with simulation results for a parallel-parking maneuver.

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

“…For robot systems with multiple linked wheeled bodies, a feedback nonlinear control scheme is given by Canudas de Wit et al (1997) for a train-like vehicle; several kinematic control methods are proposed by Sørdalen and Wichlund (1993), Tilbury et al (1995), Morin and Samson (2012), Michałek (2014;2017), Akhtar et al (2015) and Ritzen et al (2016) for one tractor with multiple trailers systems; a kinematic control and a dynamic control are given by Khalaji and Moosavian (2014) for a tractor with one trailer, in which, the latter is unactuated; two kinematic control schemes are designed by Yuan et al (2015) for a double-steering two linked 2WD mobile robots system. However, these control methods are proposed without considering actuator faults.…”

Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU

“…For instance, small articulated robots can tread through rubbles and be useful for inspection, search-and-rescue tasks, while larger and longer ones can be used for maintenance tasks and transportation of material, where normal vehicles cannot approach. Some ideas and proposal appeared in the literature, to build such big robots; many related studies concerning this configuration have been reported (Waldron, Kumar & Burkat, 1987;Commissariat A I'Energie Atomique, 1987;Burdick, Radford & Chirikjian, 1993;Tilbury, Sordalen & Bushnell, 1995;Shan and Koren, 1993;Nilsson, 1997;Migads and Kyriakopoulos, 1997). However, very few real mechanical implementations have been reported.…”

Hierarchical Control of Unmanned Ground Vehicle Formations using Multi-Body Approach

“…Several methods are available to find the kinematics and dynamic models of mobile robots [6,7], but they mostly build on simplifying kinematic constraints that do not take into account the three-dimensional forces between the wheel and the ground. Other recent works [8,9] use robotic description for modeling and validation of cars, but they do not deal with closed loop control and do not take into account the lateral and longitudinal offset in the vehicle's centre of gravity point (CoG).…”