It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with n passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting n passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

• 유광현 | Woojin Chung
• 정우진 | Kwanghyun Yoo