当前位置: X-MOL 学术J. Intell. Robot. Syst. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
A Set-Based Trajectory Planning Algorithm for a Network Controlled Skid-Steered Tracked Mobile Robot Subject to Skid and Slip Phenomena
Journal of Intelligent & Robotic Systems ( IF 3.3 ) Pub Date : 2020-12-14 , DOI: 10.1007/s10846-020-01267-0
Valerio Scordamaglia , Vito Antonio Nardi

This paper aims to propose a solution to the feasible-trajectory planning problem for a tracked mobile robot subject to non-negligible skidding and slipping effects and whose control system, sensors and actuators are connected through a communication network. A trajectory is defined in terms of succession of linear segments with a prescribed crossing velocity and the trajectory feasibility is guaranteed in terms of sufficient conditions by recurring to set-based arguments formulated in terms of solution of semi-definite programming minimization problems (SDP) involving linear matrix inequalities (LMI) constraints. In order to show the effectiveness of proposed solution a campaign of numerical and experimental simulations involving the mobile robot V4 Jaguar by Dr.Robot is carried out.



中文翻译:

具有滑移和滑移现象的网络控制滑行履带式移动机器人的基于集合的轨迹规划算法

本文旨在提出一种解决方案,该方案适用于履带式移动机器人,其受不可忽略的打滑和滑移影响,并且其控制系统,传感器和执行器通过通信网络连接,从而解决了该问题。根据连续的线段以规定的交叉速度定义轨迹,并通过重复涉及基于半定规划最小化问题(SDP)的公式表示的基于集合的论点,在足够条件下保证轨迹的可行性线性矩阵不等式(LMI)约束。为了展示所提出解决方案的有效性,开展了由Dr.Robot进行的涉及移动机器人V4 Jaguar的数值和实验仿真活动。

更新日期:2020-12-14
down
wechat
bug