Traversability-based Trajectory Planning with Quasi-Dynamic Vehicle Model in Loose Soil
Reiya Takemura,Genya Ishigami,Reiya Takemura,Genya Ishigami
This paper presents a framework for trajectory planning that explicitly considers robotic traversability based on a quasi-dynamic vehicle model of a mobile robot in loose soil. The quasi-dynamic model estimates the slip effect due to wheel-terrain interaction forces regardless of solving complicated multibody dynamics. Therefore, our proposed model is computationally efficient for quantifying how ...
