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Motion planning and posture control of the general 3 - trailer system

Raghuwaiya, Krishna and Sharma, Bibhya N. and Vanualailai, Jito (2014) Motion planning and posture control of the general 3 - trailer system. International Journal of Mathematical, Computational Science and Engineering, 8 (3). pp. 26-32. ISSN 2070-3740

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    Abstract

    This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of the general3-trailer system in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. Simulations are provided to demonstrate the effectiveness of the controls laws.

    Item Type: Journal Article
    Subjects: Q Science > QA Mathematics
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Krishna Raghuwaiya
    Date Deposited: 03 Jun 2014 11:09
    Last Modified: 23 May 2016 12:34
    URI: http://repository.usp.ac.fj/id/eprint/5757
    UNSPECIFIED

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