| One important application of the mobile robot is the transport of goods. The tractor trailer mobile robot serves as a service type robot with its unique advantages in cargo transportation because it can change the number of trailers. It can improve the efficiency and reduce the cost.Mobile robots with two trailer is a typical underactuated, nonholonomic system and nonlinear control system, single robot different in theoretical analysis with system design, motion control, it not only has the physical restraint angle, but also have tractor steering mechanism of steering angle, it is difficult to apply single mobile robot research results directly.This paper mainly completed the following aspects of the path tracking control problem of the two Trailer Trailer mobile robot.Firstly, the kinematics of mobile robot with two tailers is analyzed in the first place, and the kinematics of the tractor trailer is two.. The correctness of the kinematic model is verified by the numerical model. It provides theoretical basis for the study of path following control of mobile robot with two trailers.Secondly, the trailer type mobile robot path tracking control problem, this paper presents controller based on two fuzzy controllers and line of sight theory, this controller can with polygonal path tracking, and exhibits good dynamic performance and tracking accuracy.Again, due to the highly nonlinear and two trailer tractor trailer mobile robot with nonholonomic, this paper presents another kind of controller based on Lyapunov function, and the controller can be used by mobile robots with two trailers to track polygonal paths, and showed good movement characteristics.Finally, in order to verify the validity and feasibility of the proposed method, the prototype robot is used in the experiment, and the control effect is obtained. |
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