  The work studies a number of approaches to solving motion planning problem
for a mobile robot with a trailer. Different control models of car-like robots
are considered from the differential-geometric point of view. The same models
can be also used for controlling a mobile robot with a trailer. However, in
cases where the position of the trailer is of importance, i.e., when it is
moving backward, a more complex approach should be applied. At the end of the
article, such an approach, based on recent works in sub-Riemannian geometry, is
described. It is applied to the problem of reparking a trailer and implemented
in the algorithm for parking a mobile robot with a trailer.
