High-speed path following control of skid-steered vehicles
نویسندگان
چکیده
منابع مشابه
Energy efficient path planning for skid-steered autonomous ground vehicles
It is important to minimize the energy consumption of autonomous ground vehicles (AGVs) deployed in real world missions. One of the ways that this can be accomplished is to choose the vehicle’s motion to minimize the mechanical and electrical energy usage required by the vehicle’s motion. This paper considers energy efficient motion planning for skid-steered AGVs, an important and large class o...
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Skid-steered robots are commonly used in outdoor applications due to their mechanical simplicity, high maneuverability, and robustness. The maneuverability of these robots allows them, under ideal conditions (e.g., flat terrain and powerful actuators), to perform turning maneuvers ranging from point turns to straight line motion. However, sloped terrain, terrain with high friction, or actuator ...
متن کاملDynamically feasible, energy efficient motion planning for skid-steered vehicles
Recent research has developed experimentally verified dynamic models for skid-steered wheeled vehicles and used these results to derive a power model for this important class of all-terrain vehicles. As presented in this paper, based on the torque limitations of the vehicle motors, the dynamic model can be used to develop payload and terrain-dependent minimum turn radius constraints and the pow...
متن کاملSteering Control for a Skid-Steered Autonomous Ground Vehicle at Varying speed
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متن کاملEnhanced Path Planning for Articulated and Skid Steering Mining Vehicles
Abstract: Autonomous guidance of the mining vehicle is based on the path tracking algorithm that use pre-calculated desired paths. These paths are often calculated without taking into account the nonholonomic nature of the vehicle motion. As a result the calculated path might be not feasible and the path tracking controller will be required to correct the situation, deteriorating at the same ti...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2019
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364919859634