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

机译：摩擦系数对类似汽车机器人的轨迹性能的影响

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摘要

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.
机译：介绍了一种在复杂环境中运动的汽车类移动机器人的无碰撞轨迹规划器，并分析了摩擦系数对重要工作参数的影响。提出的计划者不仅要考虑机器人的动态能力，还要考虑轮胎的性能。该计划程序基于顺序二次编程算法和归一化时间方法。服从正态高斯分布采用了不同的摩擦系数值，以了解其对工作参数的影响。该算法已应用于多个示例，结果表明计算时间与实时工作兼容，因此作者称它们为有效生成的轨迹，因为它们避免了碰撞。此外，还对最小轨迹时间，最大车速，计算时间和消耗的能量等工作参数进行了监测，并得出了一些结论。

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