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A Set-Based Trajectory Planning Algorithm for a Network Controlled Skid-Steered Tracked Mobile Robot Subject to Skid and Slip Phenomena

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Abstract

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.

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  1. DIIES department - via Graziella, 89124, Reggio Calabria, Italy

    Valerio Scordamaglia & Vito Antonio Nardi

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  1. Valerio Scordamaglia
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Scordamaglia, V., Nardi, V.A. A Set-Based Trajectory Planning Algorithm for a Network Controlled Skid-Steered Tracked Mobile Robot Subject to Skid and Slip Phenomena. J Intell Robot Syst 101, 15 (2021). https://doi.org/10.1007/s10846-020-01267-0

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