A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots
| Autor: | Xin, Ren, Liu, Hongji, Chen, Yingbing, Cheng, Jie, Wang, Sheng, Ma, Jun, Liu, Ming |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotational maneuvers, and proportional steering, exhibit inefficient performance due to time-consuming mode switches. This inefficiency arises from wheel rotation constraints and inter-wheel cooperation requirements. The direct application of a holonomic moving strategy can lead to significant slip angles or even structural failure. Additionally, the limited steering range of AWS wheeled robots exacerbates non-linearity characteristics, thereby complicating control processes. To address these challenges, we developed a novel planning method termed Constrained AWS (C-AWS), which integrates second-order discrete search with predictive control techniques. Experimental results demonstrate that our method adeptly generates feasible and smooth trajectories for C-AWS while adhering to steering angle constraints. Comment: Accepted by iROS 2024 |
| Databáze: | arXiv |
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