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
Full text not available from this repository.Abstract
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 |
| URI: | https://repository.usp.ac.fj/id/eprint/846 |
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