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.

A Set-Based Trajectory Planning Algorithm for a Network Controlled Skid-Steered Tracked Mobile Robot Subject to Skid and Slip Phenomena / Scordamaglia, V.; Nardi, V. A.. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - 101:15(2021), pp. 1-20. [10.1007/s10846-020-01267-0]

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

Scordamaglia V.;Nardi V. A.
2021-01-01

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.
2021
Network controlled robot
Networked control systems
Optimal feasible trajectory planning
Robust invariant-set motion planning
Skid-steered robot
Tracked mobile robot
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12318/80335
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