Path tracking control of tractor-trailer mobile robot with two trailers

Abstract

In allusion to the problem of path tracking control of tractor-trailer mobile robot with two trailers, the control algorithm is presented in this paper. The motion model of robot is established firstly, and then the control algorithm of path tracking is designed based on LOS (Line of sight) method and PID (Proportion, differential and integral) control algorithm. The simulation results show that the tractor-trailer mobile robot can be effectively controlled to track the multi-linear paths via the presented control algorithm.