TY - GEN
T1 - Reduction of off-tracking effects in an n-trailer emulated through a multi-agent robot mobile system
AU - Gonzalez-Sierra, Jaime
AU - Aranda-Bricaire, Eduardo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - This paper proposes the emulation of the socalled kingpin mechanism in order to reduce the off-tracking effects exhibited by the standard and generalized n-trailer systems. In turn, both systems are emulated by a group of differential-drive mobile robots trough time-varying relative position vectors using the leader-follower scheme. A control law is proposed which involves the position of the virtual sliding kingpin mechanism. It is shown that when the virtual kingpin mechanism is used in the control law, the off-tracking effects are significantly reduced compared to when this virtual mechanism is not used. Numerical simulations and real-time experiments show the performance of the proposed control law.
AB - This paper proposes the emulation of the socalled kingpin mechanism in order to reduce the off-tracking effects exhibited by the standard and generalized n-trailer systems. In turn, both systems are emulated by a group of differential-drive mobile robots trough time-varying relative position vectors using the leader-follower scheme. A control law is proposed which involves the position of the virtual sliding kingpin mechanism. It is shown that when the virtual kingpin mechanism is used in the control law, the off-tracking effects are significantly reduced compared to when this virtual mechanism is not used. Numerical simulations and real-time experiments show the performance of the proposed control law.
UR - http://www.scopus.com/inward/record.url?scp=84938219488&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7140031
DO - 10.1109/ICRA.2015.7140031
M3 - Contribución a la conferencia
AN - SCOPUS:84938219488
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5935
EP - 5940
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -