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On path planning for a compound wheeled vehicle

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International Applied Mechanics Aims and scope

The path-planning problem for a compound robotic vehicle with three steerable wheels is solved. In the kinematic approximation, this problem is formulated as a variational problem with conditions prescribed at three points. The case of inertial motion is analyzed. The motion of a robot in an L-shaped holding alley is considered as an illustration of the algorithm proposed

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Authors and Affiliations

  1. S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, 3 Nesterov St., Kyiv, Ukraine, 03057

    V. B. Larin

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  1. V. B. Larin
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Correspondence to V. B. Larin.

Additional information

Translated from Prikladnaya Mekhanika, Vol. 46, No. 3, pp. 94–101, March 2010.

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Larin, V.B. On path planning for a compound wheeled vehicle. Int Appl Mech 46, 323–329 (2010). https://doi.org/10.1007/s10778-010-0313-5

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  • DOI: https://doi.org/10.1007/s10778-010-0313-5

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