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Technology of Graphic & Image
|
302-304,320

Dynamic window approach for trailer mobile robot based on path tracking

Ren Gongchang
Hu Xiaolong
Liu Peng
College of Mechanical & Electrical Engineering, Shaanxi University of Science & Technology, Xi'an 710021, China

Abstract

Aiming at the problem that the local path planning algorithm is only applicable to single-vehicle robots, this paper proposed a dynamic window algorithm for trailer-type mobile robots. Firstly, it used the equation of multi-vehicle structure to realize the motion control of the trailer mobile robot. Then, it used the evaluation function to evaluate both the tractor and the trailer and add them according to the weights. Finally, for the structural characteristics of the trailer, it added the angle constraint between the tractor and the trailer during the movement to ensure the stability of the motion track. The simulation experiments show that the motion control of the trailer-type mobile robot can satisfy the convergence. At the same time, the proposed algorithm realized the task of the local path planning of the trailer-type mobile robot, and the variation of the angle was beyond the limit during the motion. This research has great reference value for the autonomous navigation of trailer-type mobile robots.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.09.0577
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 1
Section: Technology of Graphic & Image
Pages: 302-304,320
Serial Number: 1001-3695(2021)01-061-0302-03

Publish History

[2021-01-05] Printed Article

Cite This Article

任工昌, 胡小龙, 刘朋. 基于路径跟踪的拖车式移动机器人动态窗口法 [J]. 计算机应用研究, 2021, 38 (1): 302-304,320. (Ren Gongchang, Hu Xiaolong, Liu Peng. Dynamic window approach for trailer mobile robot based on path tracking [J]. Application Research of Computers, 2021, 38 (1): 302-304,320. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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