Dynamically feasible, energy efficient motion planning for skid-steered vehicles

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• 作者：Nikhil Gupta ; Camilo Ordonez ; Emmanuel G. Collins Jr.
• 关键词：Skid ; steered vehicles ; Dynamic modeling ; Power modeling ; Motion planning ; Energy efficient
• 刊名：Autonomous Robots
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：41
• 期：2
• 页码：453-471
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics;
• 出版者：Springer US
• ISSN：1573-7527
• 卷排序：41

文摘

Recent research has developed experimentally verified dynamic models for skid-steered wheeled vehicles and used these results to derive a power model for this important class of all-terrain vehicles. As presented in this paper, based on the torque limitations of the vehicle motors, the dynamic model can be used to develop payload and terrain-dependent minimum turn radius constraints and the power model can be used to predict the energy consumption of a given trajectory. This paper uses these results along with sampling based model predictive optimization to develop an effective methodology for generating dynamically feasible, energy efficient trajectories for skid-steered autonomous ground vehicles (AGVs) and compares the resultant trajectories with those based on the standard distance optimal trajectories. The simulated and experimental results consider an AGV moving at a constant forward velocity on both wood and asphalt surfaces under various payloads. The results show that a small increase in the distance of a trajectory over the distance optimal trajectory can result in a dramatic savings in the AGV’s energy consumption. They also show that distance optimal planning can often produce trajectories that violate the motor torque constraints for skid-steered AGVs, which can result in poor navigation performance.