Substantiation of the trajectory planning algorithm for unmanned tracked vehicle

Abstract

Mobility operation of an unmanned transport vehicle (UTV) when operating on rough terrain is a difficult task. The most difficult is the problem of the tracked UTV motion. Simplification of the controlled motion simulation, ambiguity of the track – terrain interaction parameters, the random nature of external impacts lead to fuzziness of the status parameters of the UTV as a controlled object. The article proposes a method for trajectory planning of the UTV motion, taking into account the nonholonomic nature of the track – terrain interaction. Within this objective, three aspects of the research stand out sharply. First, refinement of the tracked vehicle mathematical model. Secondly, the Voronoi diagram method is the basis of the algorithm for motion trajectory planning. Thirdly, the parameters of interaction with the external environment, in particular, the dependences of the coefficient of resistance to side slip, being obtained in real time, allow us to synthesize a correcting matrix that provides for increased motion stability. The effectiveness of the proposed approach is planned to be assessed by UTV controlled motion simulation and during experimental investigations.