Control of truck-trailer mobile robots: a survey
Mobile robots with trailers and its control is one of the most challenging problems in service robotics. Since, these kinds of robots can accomplish the given task in a faster and cheaper way than an individual robot, they find applications in many areas. However, the backward movement of a truck-trailer mobile robot is more complex as the complete system is highly non-linear and unstable. The practical advantages of this system in the transportation industry have led to significant research in this area. Various studies have been conducted in this area for exploring more on the subject of non-linear control. This paper presents a survey on the various control strategies developed in the backward motion of mobile robot with trailers. The existing studies in this field are analyzed to identify unsolved problems.
mobile robot trailers non-holonomic backward tracking