A solution of the motion planning without obstacles for the standard n-trailer system is proposed. This solution relies basically on the fact that the system is flat with the Cartesian coordinates of the last trailer a s a linearizing output. Thc FrCnat formulae are uscd LO simplify the calculations and permit to deal with angle constraints. The gcncral 1-trailer system, where the trailcr is not directly hitched to thc car at the center of the rear axle, is also flat. The gcometric construction used for the standard 1-trailer system can be extended to this morc realistic system. MATLAR simulations illustrate this method.
The standard n-trailer possesses the property that it is differentially flat when using the position of the rear axle of the last trailer as the flat output REF .
Flatness, motion planning and trailer systems
Proceedings of 32nd IEEE Conference on Decision and Control
Proceedings of 32nd IEEE Conference on Decision and Control
Computer Science