Snakeboard motion planning with viscous friction and skidding
Snakeboard motion planning with viscous friction and skidding
复制标题
具有粘性摩擦和打滑的蛇板运动规划
DOI：
10.1109/icra.2015.7139251
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
Tony Dear;S. Kelly;M. Travers;H. Choset
蛇板是机械系统分析的一个经过充分研究的例子，这主要是因为它同时具有丰富的行为和简单的设计。然而，很少有蛇板模型将移动方向上的耗散摩擦和打滑作为对刚性非完整约束的破坏。在本文中，我们通过评估以前提出的摩擦模型和基于瑞利耗散函数的新的打滑模型来研究这些对轨迹规划的影响。我们展示了这些添加如何改变前向规划问题中步态的通常行为，并通过利用身体坐标和轨迹的曲率参数将这些变化结合到反向规划问题的解中。
The snakeboard is a well-studied example for mechanical systems analysis, largely because of its simultaneous richness in behavior and simplicity in design. However, few snakeboard models incorporate dissipative friction in the traveling direction and skidding as a violation of the rigid nonholonomic constraints. In this paper we investigate these effects on trajectory planning by evaluating a previously proposed friction model as well as a novel skidding model based on the addition of Rayleigh dissipation functions. We show how these additions change the usual behavior of gaits in the forward planning problem, and incorporate the changes into the solutions of the inverse planning problem by utilizing body coordinates along with a curvature parameterization for trajectories.