Reverse Motion System Design With Two Trailers

As science and technology gaining momentum, robot has coming to be increasingly helpful for human beings, which serves as a right-hand man. The system is driven by a differential tractor and some trailers followed it. When the tractor moved, the trailers will follow the tractor’s locus. If a system satisfying the above conditions, we call the system as tractor-trailer mobile robot(TTMR).As is shown in this thesis TTMR is a typical complex system which is difficult to control. Besides, in theoretical analysis single robot is different from TTMR, the imparity reflected in many aspects. Because lack of axial angle constrains of body and angle constrains of tractor’s steering mechanism, single robot has a simple mathematical model. Applying research results of single mobile robot to TTMR directly has long been a great challenge for scholars and researchers at home and abroad.This thesis mainly focuses on the reverse motion path tracking of the tractor-trailer mobile robot. Research data come from experiments on Pioneer3 produced by Active Media Corporation. The paper mainly involves this ideas on control problem of reverse motion system design.Firstly, launch constraint analysis on the system and complete mathematical modelling upon the system, thus achieve mathematical description of its movements.Secondly, the input and output were determined in this section. As the system was complexity, we has simplified this system with linearization. Then use the linear relationship between input and variables to control this system. This method has a simple design with loose demand on equipment accuracy.Thirdly, develop a mathematical method which gets command of the trailer’s reverse motion angle, realize motion control over the tractor-trailer modeled on Pioneer 3 mobile robot.Finally, In order to control the system conveniently, and verify the mathematical description method, author designed an interface to observe the state of system with C++ in VS2010.All experiments are conducted indoor, and the results evidenced the feasibility and validity of the proposed method.