A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866929502748147712 |
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| author | Xin, Ren Liu, Hongji Chen, Yingbing Cheng, Jie Wang, Sheng Ma, Jun Liu, Ming |
| author_facet | Xin, Ren Liu, Hongji Chen, Yingbing Cheng, Jie Wang, Sheng Ma, Jun Liu, Ming |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_09677 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots Xin, Ren Liu, Hongji Chen, Yingbing Cheng, Jie Wang, Sheng Ma, Jun Liu, Ming Robotics 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. |
| title | A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.09677 |