Motion Planning for the Mobile Platform Rex

  • Krzysztof Tchoń
  • Krzysztof Arent
  • Mariusz Janiak
  • Łukasz Juszkiewicz
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 267)

Abstract

This paper deal with the motion planning of a wheeled, skid steering platform, with four independently actuated wheels that slip laterally and longitudinally. Two methods of motion planning are proposed: the Endogenous Configuration Space Approach, and the Optimal Control Method. Their performance is illustrated by numeric computations.

Keywords

wheeled mobile platform dynamics motion planning 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Krzysztof Tchoń
    • 1
  • Krzysztof Arent
    • 1
  • Mariusz Janiak
    • 1
  • Łukasz Juszkiewicz
    • 1
  1. 1.Institute of Computer Engineering, Control and RoboticsWrocław University of TechnologyWrocławPoland

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