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• W2896540312 abstract "This paper proposes an approach for the motion planning of a constrained skid-steered tracked mobile robot under the hypothesis of non-negligible skid and slip phenomena. Operating environment is firstly discretized with a finite dimensional grid. Then, a weighted graph is defined whose nodes are the above mentioned grid points, and whose arcs denote the trajectory segments. A modified shortest path search algorithm is then proposed to find a trajectory, in terms of succession of arcs, connecting starting and ending nodes. Trajectory feasibility is guaranteed by recurring to set-based arguments. In order to show the effectiveness of the proposed approach, some numerical examples are finally discussed." @default.
• W2896540312 created "2018-10-26" @default.
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• W2896540312 date "2018-08-01" @default.
• W2896540312 modified "2023-09-25" @default.
• W2896540312 title "Feasible Trajectory Planning Algorithm for a Skid-Steered Tracked Mobile Robot Subject to Skid and Slip Phenomena" @default.
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• W2896540312 doi "https://doi.org/10.1109/mmar.2018.8486139" @default.
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