Trajectory Planning of Planar Tracked Vehicles

Zvi Shiller, William Serate

Research output: Contribution to conferencePaperpeer-review

Abstract

This paperaddressesthe problemof motionplanning of trackedvehicles. It is shownthat the force equilibrium perpendicularto the tracks introduces a non-integrable state dependentequality constraint, makingthe path planning problem nonholonomic. A method is then presentedfor computingthe nominaldriving track forces for motionsalonga specified path at desired speeds. It consists of selecting the angular speedsalongthe path that satisfy vehicle dynamicsand the non-integrable constraint. The computationof the angular speeds is formulatedas a parameteroptimization, minimizingthe violation of the equality constraint. The methodis demonstrated for motionsalonga circular path.

Original languageEnglish
Pages167-172
Number of pages6
StatePublished - 1992
Externally publishedYes
Event1992 AAAI Fall Symposium on Applications of AI to Real-World Autonomous Mobile Robots - Cambridge, United States
Duration: 23 Oct 199225 Oct 1992

Conference

Conference1992 AAAI Fall Symposium on Applications of AI to Real-World Autonomous Mobile Robots
Country/TerritoryUnited States
CityCambridge
Period23/10/9225/10/92

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