Kinematics and constraint analysis of tractor-trailer mobile robot

Abstract

Tractor-trailer mobile robot is a complicated system composed of a tractor and multiple trailers. Its path planning is complicated accordingly. The kinematics of the system is analyzed in this paper on the base of band-path concept. The transient parameters in the dynamic motion presented in this paper make the collision avoidance and path seeking easier. It also provides a kinematics model for the simulation.