Trajectory Planning for an Articulated Tracked Vehicle and Tracking the Trajectory via an Adaptive Model Predictive Control
This paper focuses on the trajectory planning and trajectory tracking control of articulated tracked vehicles (ATVs). It utilizes the path planning method based on the Hybrid A-star and the minimum snap smoothing method to obtain the feasible kinematic trajectory. To overcome the highly non-linearit...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI
2023
|
| Subjects: | |
| Online Access: | View Fulltext in Publisher View in Scopus |