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Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot

Author

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  • Francisco Valero
  • Francisco Rubio
  • Carlos Llopis-Albert
  • Juan Ignacio Cuadrado

Abstract

A collision-free trajectory planner for a car-like mobile robot moving in complex environments is introduced and the influence of the coefficient of friction on important working parameters is analyzed. The proposed planner takes into account not only the dynamic capabilities of the robot but also the behaviour of the tire. This planner is based on sequential quadratic programming algorithms and the normalized time method. Different values for the coefficient of friction have been taken following a normal Gaussian distribution to see its influence on the working parameters. The algorithm has been applied to several examples and the results show that computation times are compatible with real-time work, so the authors call them efficient generated trajectories as they avoid collisions. Besides, working parameters such as the minimum trajectory time, the maximum vehicle speed, computational time, and consumed energy have been monitored and some conclusions have been reached.

Suggested Citation

  • Francisco Valero & Francisco Rubio & Carlos Llopis-Albert & Juan Ignacio Cuadrado, 2017. "Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-9, June.
    • Handle: RePEc:hin:jnlmpe:4562647
    DOI: 10.1155/2017/4562647
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    Cited by:

    1. Ángel Valera & Francisco Valero & Marina Vallés & Antonio Besa & Vicente Mata & Carlos Llopis-Albert, 2021. "Navigation of Autonomous Light Vehicles Using an Optimal Trajectory Planning Algorithm," Sustainability, MDPI, vol. 13(3), pages 1-21, January.

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