Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

Thomas Howard and Alonzo Kelly
International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166.


Download
  • Adobe portable document format (pdf) (9MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We present an algorithm for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle controls parameters. This approach can accommodate such effects as rough terrain, vehicle dynamics, models of wheel-terrain interaction, and other effects of interest. It can accommodate boundary and internal constraints while optimizing an objective function that might, for example, involve such criteria as obstacle avoidance, cost, risk, time, or energy consumption in any combination. The algorithm is efficient enough to use in real time due to its use of nonlinear programming techniques that involve searching the space of parameterized vehicle controls. Applications of the presented methods are demonstrated for planetary rovers.

Keywords
mobile robots, trajectory generation, rough terrain, constrained optimization, optimal control, path planning

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers
Number of pages: 28
Note: This version was the one submitted to the International Journal of Robotics Research for publication. See their website for the final version of the paper.

Text Reference
Thomas Howard and Alonzo Kelly, "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots," International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166.

BibTeX Reference
@article{Howard_2007_5739,
   author = "Thomas Howard and Alonzo Kelly",
   title = "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots",
   journal = "International Journal of Robotics Research",
   pages = "141-166",
   publisher = "Sage Publications",
   month = "February",
   year = "2007",
   volume = "26",
   number = "2",
   Notes = "This version was the one submitted to the International Journal of Robotics Research for publication. See their website for the final version of the paper."
}