Trajectory generation and control for four wheeled omnidirectional vehicles
نویسندگان
چکیده
This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complexity makes the application in real-time feasible. An implementation of the algorithm on a real vehicle is presented and discussed. c © 2005 Elsevier B.V. All rights reserved.
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 54 شماره
صفحات -
تاریخ انتشار 2006