Trajectory Planning of Tracked Vehicles

Abstract

The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for… (More)
DOI: 10.1109/ROBOT.1993.292242

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