A Set-Based Method for Planning Coordinated Trajectories for Skid-Steered Robotic Units Subject to Constraints, Uncertainties, and External Disturbances

This paper introduces a method for planning coordinated trajectories for a group of remotely-controlled, skid-steered robotic units with limited motion capabilities, subject to skidding and slipping phenomena. The proposed solution aims to define optimal trajectories that can be simultaneously track...

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Bibliographic Details
Published inIEEE access Vol. 13; pp. 57191 - 57206
Main Authors Scordamaglia, Valerio, Ferraro, Alessia
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace electronics
Algorithms
Collision avoidance
Constraints
Control algorithms
Control theory
coordinated feasible trajectories planning
Dynamics
Heuristic algorithms
Linear matrix inequalities
Multirobot systems
Planning
Remote control
Robot dynamics
Robot kinematics
Robotics
Robots
Semidefinite programming
set-theoretic methods
Skidding
Tracking errors
Trajectory
Trajectory optimization
Trajectory planning
Trajectory tracking
uncertain systems
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Summary:This paper introduces a method for planning coordinated trajectories for a group of remotely-controlled, skid-steered robotic units with limited motion capabilities, subject to skidding and slipping phenomena. The proposed solution aims to define optimal trajectories that can be simultaneously tracked by the robots while ensuring collision-free motion, even in the presence of unavoidable tracking errors due to the limited authority of the control algorithm. A key feature is that, at the cost of certain degree of conservatism, the robotic units do not require collision avoidance capabilities to solve online coordination problems during motion. From a methodological point of view, the problem of planning robust and coordinated trajectories that ensure collision-free robot movements is formulated as a graph search problem involving semidefinite programming with constraints in the form of linear matrix inequalities. Finally, in order to show the effectiveness of the proposed solution and highlight some of its potential limitations, the results of several numerical and experimental simulations are discussed.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2025.3555494