Ahmed Khamies El-Shenawy
Solving The Singularity of Car Like Robot With Back Trailer
This paper proposes a noval model for a car like wheeled mobile robot with back trailer. The proposed model is the first step in developing an autoparking control system for assisting non-professional drivers. The kinematics analysis of the front car shows the singularity problem of the system, which is expressed by means of non-holonomic constriants. A virtual new actuated kinematics is developed to overcome this problem. Ihe inverse and forward kinematics of the front car and the back trailer are solved in this paper. Two simulation examples results are presented to illustrate the performance of the new kinematics solution.