Stochastic multi-objective optimization for aggressive maneuver trajectory planning on loose surface
Résumé
In this work we regard the problem of trajectory planning for aggressive maneuver of a wheeled mobile robot on loose surface. Our approach is inspired by previously reported analysis of professional rally racers actions during sharp turn. Using numerical simulations we obtain a set of solutions representing all possible compromises between speed and accuracy of maneuver. We choose a particular solution and extend it by producing a continuous mapping from desired trajectory turn angles to parameters of the control inputs.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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