A feasible trajectory planning algorithm for a network controlled robot subject to skid and slip phenomena

摘要

This paper aims to propose a feasible solution to the trajectory planning problem for a constrained skid-steering mobile robot whose control system, sensors and actuators are connected through a communication network. Operating environment is firstly discretized by a finite dimensional grid. Then a weighted graph, whose nodes are the above mentioned points and whose arcs denote the trajectory segments connecting points is defined. Finally an algorithm to obtain the shortest feasible succession of segments connecting given starting and ending points is proposed. Trajectory feasibility is guaranteed in terms of sufficient conditions involving the solution of semi-definite programming (SDP) problems. In order to show the effectiveness of the proposed approach, some numerical simulations are proposed.