A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots
<|reference_start|>A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots: This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotational maneuvers, and proportional steering, exhibit inefficient performance due to time-consuming mode switches. This inefficiency arises from wheel rotation constraints and inter-wheel cooperation requirements. The direct application of a holonomic moving strategy can lead to significant slip angles or even structural failure. Additionally, the limited steering range of AWS wheeled robots exacerbates non-linearity characteristics, thereby complicating control processes. To address these challenges, we developed a novel planning method termed Constrained AWS (C-AWS), which integrates second-order discrete search with predictive control techniques. Experimental results demonstrate that our method adeptly generates feasible and smooth trajectories for C-AWS while adhering to steering angle constraints.<|reference_end|>
@article{xin2024a,
    title={A Generic Trajectory Planning Method for Constrained All-Wheel-Steering
  Robots},
    author={Ren Xin, Hongji Liu, Yingbing Chen, Jie Cheng, Sheng Wang, Jun Ma,
  Ming Liu},
    journal={arXiv preprint arXiv:2404.09677},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.09677},
    primaryClass={cs.RO}
}