Path Searching of Tractor-Trailer Robot Based on Circuit Map

摘要

This paper presents a path planner in the way of circuit map for the tractor-trailer robots on the basis of equivalent size.It takes the global properties of path planning into consideration,and overcomes the shortcoming of local optimum in some local path planner,e.g.artificial potential field method.The theory analysis and simulation prove the feasibility of this brand new method.