TY - GEN
T1 - An Improved Model Predictive Trajectory Planning Method for Unmanned Tracked Vehicles on Undulating Terrains
AU - Zuo, Yinchu
AU - Yang, Chao
AU - Qie, Tianqi
AU - Wang, Weida
AU - Xiang, Changle
AU - Wang, Hongwei
N1 - Publisher Copyright:
© 2024 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2024
Y1 - 2024
N2 - To ensure the safety and stability of unmanned tracked vehicles (UTV) driving under off-road scenarios, an improved model predictive trajectory planning method for UTV navigating on undulating terrains is proposed. Firstly, a terrain-based kinematic model is established to consider the impact of terrain features on the UTV attitude. Secondly, based on the model mentioned above, an improved model predictive trajectory planning (MPTP) method is proposed. This method can solve a trajectory that satisfies the motion constraints under undulating terrain scenarios. Thirdly, to reduce the computational complexity of the rolling optimization, an initial guess for MPTP is generated via a modified hybrid A∗ method, in which terrain features are considered. The proposed method has been validated in a typical undulating terrain scenario, and the results indicate that it performs better than conventional trajectory planning method for UTVs under the undulating terrain scenario.
AB - To ensure the safety and stability of unmanned tracked vehicles (UTV) driving under off-road scenarios, an improved model predictive trajectory planning method for UTV navigating on undulating terrains is proposed. Firstly, a terrain-based kinematic model is established to consider the impact of terrain features on the UTV attitude. Secondly, based on the model mentioned above, an improved model predictive trajectory planning (MPTP) method is proposed. This method can solve a trajectory that satisfies the motion constraints under undulating terrain scenarios. Thirdly, to reduce the computational complexity of the rolling optimization, an initial guess for MPTP is generated via a modified hybrid A∗ method, in which terrain features are considered. The proposed method has been validated in a typical undulating terrain scenario, and the results indicate that it performs better than conventional trajectory planning method for UTVs under the undulating terrain scenario.
KW - model predictive control
KW - trajectory planning
KW - undulating terrain
KW - Unmanned tracked vehicle
UR - http://www.scopus.com/inward/record.url?scp=85205505879&partnerID=8YFLogxK
U2 - 10.23919/CCC63176.2024.10661419
DO - 10.23919/CCC63176.2024.10661419
M3 - Conference contribution
AN - SCOPUS:85205505879
T3 - Chinese Control Conference, CCC
SP - 6409
EP - 6414
BT - Proceedings of the 43rd Chinese Control Conference, CCC 2024
A2 - Na, Jing
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 43rd Chinese Control Conference, CCC 2024
Y2 - 28 July 2024 through 31 July 2024
ER -