INTELLIGENT SYSTEMS AND TECHNOLOGIES

Trajectory generation for non-stop entry into the route of a wheeled robot considering kinodynamic constraints

J. G. Kokunko

V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Moscow

Abstract: The paper considers the problem that arises when developing trajectory control systems for unmanned wheeled platforms. Considering the constraints on their dynamic features, it is necessary to smooth the primitive trajectory that defines the reference route in the first approximation and recover its derivatives. If its starting point does not coincide with the initial position of the platform's center of mass, it is also necessary to ensure a feasible entry of the plant onto the reference trajectory and its further tracking during non-stop motion. To comprehensively solve these problems, a tracking differentiator with smooth and bounded sigmoid corrective actions is introduced, whose output variables track the initial non-smooth trajectory. The conditions under which the tracking differentiator generates a reference smooth trajectory with specified constraints on speed, acceleration, and jerk are formalized, including the necessary moving of the wheeled platform's center of mass from arbitrary initial conditions to the starting point, considering the dimensions of the platform.

Keywords: unmanned wheeled platform, trajectory control, trajectory achievability and smoothing, tracking differentiator.

DOI: 10.14357/20718632250404

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