Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
A towing robot, or a tractor-trailer mobile robot(TTMR) has a high loading capacity and locomotion then has been studied for many years. However, it is known that the control of the TTMR automatically avoiding obstacles is difficult due to its underactuated system and nonholonomic constraints. To drive the TTMR in the narrow path is challenging but it is needed to transport in the factories and warehouses. In this study, the authors tried to make the TTMR control and avoid obstacles even in the narrow path, considering the polyhedron shape of both the TTMR itself and obstacles. For collision detection and avoiding, Farkas’ lemma is applied. The usefulness is shown by the simulation in the environment with obstacles and the narrow path.
