Trajectory planning for unmanned skid-steering vehicle

Abstract To make a trajectory enough to track unmanned skid-steering vehicles, planning method is proposed in this paper. The planner consists of velocity planning, curvature and path planning. Subject the constraints jerk acceleration, has five possibilities. Then taking into account, three And according sequence sequence, information can be obtained by kinematic model. verify presented method, simulation scenario designed. test result shows that could generate sufficiently smooth with satisfying all constraints, including jerk, curvature.