Backward Tracking Control of Mobile Robot with One Trailer via Fuzzy Line-of-Sight Method

Abstract

Trajectory tracking problem of a tractor-trailer mobile robot with backward speed is addressed in this paper. Due to the nonholonomic constraints, tracking control of the tractor-trailer mobile robot is a more challenging task. Fuzzy control combined with hierarchical method is often shown to be effective for the complex system. With line-of-sight method, a fuzzy control approach is then proposed. Its effectiveness is verified by numeric simulation results. Numerical experimental result showed that the backward trajectory tracking can be successfully carried out by the proposed control method.