Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866908599641440256 |
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| author | Focchi, Michele Fontanelli, Daniele Stocco, Davide Bussola, Riccardo Palopoli, Luigi |
| author_facet | Focchi, Michele Fontanelli, Daniele Stocco, Davide Bussola, Riccardo Palopoli, Luigi |
| contents | Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective, however, this flexibility comes at a cost: the complexity of modelling the system and the resulting difficulty in designing theoretically sound navigation solutions. In this paper, we aim to bridge this gap by proposing a framework for the navigation of tracked vehicles, built upon three key pillars. The first pillar comprises two models: a simulation model and a control-oriented model. The simulation model captures the intricate terramechanics dynamics arising from soil-track interaction and is employed to develop faithful digital twins of the system across a wide range of operating conditions. The control-oriented model is pseudo-kinematic and mathematically tractable, enabling the design of efficient and theoretically robust control schemes. The second pillar is a Lyapunov-based feedback trajectory controller that provides certifiable tracking guarantees. The third pillar is a portfolio of motion planning solutions, each offering different complexity-accuracy trade-offs. The various components of the proposed approach are validated through an extensive set of simulation and experimental data. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_18641 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles Focchi, Michele Fontanelli, Daniele Stocco, Davide Bussola, Riccardo Palopoli, Luigi Robotics Systems and Control Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective, however, this flexibility comes at a cost: the complexity of modelling the system and the resulting difficulty in designing theoretically sound navigation solutions. In this paper, we aim to bridge this gap by proposing a framework for the navigation of tracked vehicles, built upon three key pillars. The first pillar comprises two models: a simulation model and a control-oriented model. The simulation model captures the intricate terramechanics dynamics arising from soil-track interaction and is employed to develop faithful digital twins of the system across a wide range of operating conditions. The control-oriented model is pseudo-kinematic and mathematically tractable, enabling the design of efficient and theoretically robust control schemes. The second pillar is a Lyapunov-based feedback trajectory controller that provides certifiable tracking guarantees. The third pillar is a portfolio of motion planning solutions, each offering different complexity-accuracy trade-offs. The various components of the proposed approach are validated through an extensive set of simulation and experimental data. |
| title | Pseudo-Kinematic Trajectory Control and Planning of Tracked Vehicles |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2409.18641 |