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Dynamic trajectory planning for a standard trailer system

Sharma, Bibhya N. and Vanualailai, Jito and Chandra, Subash A. (2007) Dynamic trajectory planning for a standard trailer system. Far East Journal of Applied Mathematics, 28 (3). pp. 465-486. ISSN 0972-0960

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This paper presents a set of continuous time-invariant acceleration controllers in a dynamic trajectory planning that guarantees convergence and collision avoidance properties of a standard tractor-trailer mobile robot in a priori known workspace. The avoidance scheme, introduced within a potential field framework via the Lyapunov method, not only allows the avoidance of fixed and moving obstacles, but also sufficiently exploits the boundary lines of a parking bay to ensure posture stability. The effectiveness of the proposed control laws is demonstrated via simulations.

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: Ms Mereoni Camailakeba
Date Deposited: 25 May 2007 00:55
Last Modified: 23 Jul 2012 07:21

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