The work investigates the experimental problem of reparking trailer for a wheeled robot with a trailer. The geometric model with kinematic constraints leads to the sub-Riemannian problem. We solve this problem via nilpotent approximation. The corresponding solution is close to optimal and locally minimizes the total kinetic energy of the driving wheels. A full-scale model is designed in a way to avoid phase constraints usually appearing in trailer systems. We perform 64 different experiments with reparking trailer and obtain the satisfactory accuracy: for one maneuver we repark the trailer with maximum angle error equal to 4 degrees.


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    Title :

    Automatic reparking of the robot trailer along suboptimal paths


    Contributors:


    Publication date :

    2021-08-26


    Size :

    2296306 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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