Trajectory Planning of Planar Tracked Vehicles

Zvi Shiller and William Serate

This paper addresses the problem of motion planning of tracked vehicles. It is shown that the force equilibrium perpendicular to the tracks introduces a non-integrable state dependent equality constraint, making the path planning problem nonholonomic. A method is then presented for computing the nominal driving track forces for motions along a specified path at desired speeds. It consists of selecting the angular speeds along the path that satisfy vehicle dynamics and the non-integrable constraint. The computation of the angular speeds is formulated as a parameter optimization, minimizing the violation of the equality constraint. The method is demonstrated for motions along a circular path.


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