Implement trailer for other leading vehicles

[timmercy]

For now only Dubins can be a leading vehicle.

Add: AGV, Bicycle, Holonomic, trailer in front of a vehicle

Holonomic will require extra variables: x_tr, y_tr and equality constraints on these, since this vehicle has no orientation.
V_veh = dx_veh^2+dy_veh^2
x_tr = x_veh-L_cos(theta_tr)
y_tr = y_veh-L_sin(theta_tr)

[EdXian]

Hi @timmercy ,
Do you have a solution for the leading vehicle?
I want to use a Holonomic or agv as the leader of the trailer? However the vehicle state is not proper for trailer.
Can you help me?
thank you!!

[timmercy]

Hi @EdXian,

I didn't work on this anymore, so unfortunately I don't have a solution for the moment...

However, you can start from the formulas above to adapt OMG-tools to use a holonomic vehicle in combination with a trailer. In addition you can also have a look at all branches starting with 'joland' e.g. https://github.com/meco-group/omg-tools/tree/joland
I am not sure, but it could be that one of these branches contains an elaboration of a holonomic vehicle with a trailer (one of our students worked on this and published his work on these branches).

Kind regards,

Tim

[EdXian]

Hi @timmercy ,
Thank you for your information. It helps me a lot.