首页|Minimum-time trajectory planning under dynamic constraints for a wheeled mobile robot with a trailer
Minimum-time trajectory planning under dynamic constraints for a wheeled mobile robot with a trailer
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NSTL
Elsevier
This paper focuses on the minimum-time trajectory planning in a structured environment for a wheeled mobile robot with a trailer. The constraints which are accounted for include: obstacle avoidance, boundary conditions on the position/orientation of both the tractor and the trailer, maximum articulation angle between the two platforms, kinodynamic capacities of the actuators, and dynamic stability of the system. The proposed technique is based on the random-profile approach, which uses a versatile master-slave optimization scheme. It is robust enough to handle different scenarios (free or imposed path) and different structures of the system (on-axle or off-axle articulation). Simulation results show that it converges, in reasonable runtimes, towards good-quality solutions which are saturating the constraints. A preliminary experimental test suggests that the planned trajectories are realistically achievable.
Wheeled mobile robotTrailerMinimum timeTrajectory planningDynamic constraintsDynamic stability
A. Bouzar Essaidi、M. Haddad、H. E. Lehtihet
展开 >
Ecole Militaire Polytechnique, Laboratoire Mecanique des Structures
NSTL
Elsevier
