Path tracking optimization of tractor-trailer wheeled platforms taken into account the wheels dynamics

Abstract

Tractor-trailer wheeled platforms are recognized as articulated robotic platforms contain a frontrunner active mobile platform (the tractor) pulling one or more passive ones (the trailers). These categories of mobile platforms are broadly implemented in cooperative activities thanks to their novel features like as: maximum load carrying capacity and minimum energy consumption. The presented article deals with path tracking optimization of the tractor-trailer moving platform employing indirect method of the optimal control. Firstly, the nonlinear motion relations of the modular platform are obtained pertaining to kinematic constraints and inertia characteristics of wheels. Then, the obtained dynamic equations are supposed as constraints of the problem and an appropriate objective criterion is determined for the optimal trajectory tracking. Then, the problem is solved and various simulations are presented. The obtained results reveal proficiency and applicability of the proposed procedure for the optimal tracking of the tractor-trailer wheeled mobile platforms.