Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints - Zhao, Tianrui; Li, Peibo; Yuan, Yu; Zhang, Lin; Zhao, Yanzheng (Actuators, 2024)
Keywords: Analysis; Closed loop systems; Constraints; Control methods; Control theory; Farm tractors; Kinematics; Least squares method; Line of sight; multiple constraints; Nonlinear dynamics; Obstacle avoidance; Robot dynamics; Robotics industry; Robots; Strategy; Tracking control; Tracking errors; Tractors; tractor–trailer system; Trailers; Trajectory analysis; Trajectory control; Trajectory planning; trajectory re-planning; Transient performance; Velocity; Wheels