In this article, we propose an efficient algorithm for cornering trajectory planning avoiding slip based on dynamics for differential-wheeled mobile robots (DWMRs). In general, slip between tires and the ground increases odometry errors. Hence, to consider not only full dynamics, including actuators, but also slip avoidance, we formulate a complex planning problem, in which the following essential constraints are imposed: longitudinal and lateral force constraints to avoid slip and motor control input bounds for DWMR dynamics, including actuators. Given a single corner, the proposed trajectory is divided into three turning sections, which are composed of multiple intervals. In order to satisfy all constraints, the intervals are then split into several subintervals, which are with constant or time-varying control inputs based on the bang-bang principle or on force constraint bounds for optimal acceleration. We then find two local minimum trajectories by analyzing the time trend w.r.t. the turning radius for cornering. These are the low-velocity decrease trajectory and the shortest distance trajectory. The time-optimal solution is determined by the minimum of the local minima. Both simulations and experiments are conducted to verify the effectiveness of the proposed algorithm.

中文翻译：

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差动轮式移动机器人避滑转弯轨迹规划


在本文中，我们提出了一种基于差速轮移动机器人（DWMR）动力学的转弯轨迹规划避免打滑的有效算法。一般来说，轮胎和地面之间的滑动会增加里程计误差。因此，为了不仅考虑包括执行器在内的完整动力学，还要考虑避免打滑，我们制定了一个复杂的规划问题，其中施加了以下基本约束：避免打滑的纵向和横向力约束以及 DWMR 动力学的电机控制输入界限，包括执行器。给定一个拐角，所提出的轨迹被分为三个转弯部分，这三个转弯部分由多个区间组成。为了满足所有约束，这些间隔被分成几个子间隔，这些子间隔具有基于爆炸原理或最佳加速度的力约束边界的恒定或时变控制输入。然后，我们通过分析转弯转弯半径的时间趋势，找到两个局部最小轨迹。这些是低速减小轨迹和最短距离轨迹。时间最优解由局部最小值中的最小值确定。通过仿真和实验验证了所提算法的有效性。