Trajectory generation and control for four wheeled omnidirectional vehicles
- 28 November 2005
- journal article
- Published by Elsevier BV in Robotics and Autonomous Systems
- Vol. 54 (1), 13-22
- https://doi.org/10.1016/j.robot.2005.10.002
Abstract
This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complexity makes the application in real-time feasible. An implementation of the algorithm on a real vehicle is presented and discussed.Keywords
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