DESCRIPTION AND ANALYSIS OF BAND-PATH FOR TRACTOR-TRAILER MOBILE ROBOT SYSTEM

摘要

Tractor trailer mobile robot is a complicated system, which is composed of a tractor and multiple trailers. The path planning problem of the system of this kind can not be solved using the path planning algorithm for single body car like robot. This paper proposes the concept of band path and gives the computation method of the band path, which describes the characteristics of the path and the relationship between the path and restrictions. Based on those, an approach to the path planning for tractor trailer mobile robot is supposed.