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.
CITATION STYLE
Tchoń, K., Arent, K., Janiak, M., & Juszkiewicz, Ł. (2014). Motion planning for the mobile platform rex. Advances in Intelligent Systems and Computing, 267, 497–506. https://doi.org/10.1007/978-3-319-05353-0_47
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