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 language | English |
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| Pages | 167-172 |
| Number of pages | 6 |
| State | Published - 1992 |
| Externally published | Yes |
| Event | 1992 AAAI Fall Symposium on Applications of AI to Real-World Autonomous Mobile Robots - Cambridge, United States Duration: 23 Oct 1992 → 25 Oct 1992 |
Conference
| Conference | 1992 AAAI Fall Symposium on Applications of AI to Real-World Autonomous Mobile Robots |
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| Country/Territory | United States |
| City | Cambridge |
| Period | 23/10/92 → 25/10/92 |