@inproceedings{95af3c4270134f8085530b1fdcc51d63,
title = "Energy-based path planning for skid-steer vehicles operating in areas with mixed surface types",
abstract = "This paper presents a method of path planning for skid-steer robots using an energy-based heuristic. A kinematic model of skid-steer motion utilizing the instantaneous centers of rotation (ICRs) between the tracks and the ground surface is used to predict vehicle motion. A model of skid-steer robot power usage, which also utilizes ICR estimates for slip velocity calculation, is implemented to generate estimates of energy usage. The kinematic and power use models are fused with a Sampling Based Model Predictive Optimization algorithm to plan energy efficient paths through operational areas with mixed surface types. The results of planning paths through both simulated and real-world environments are presented and show that small increases in distance can result in significant energy savings for skid-steer robots.",
author = "Jesse Pentzer and Karl Reichard and Sean Brennan",
year = "2016",
month = jul,
day = "28",
doi = "10.1109/ACC.2016.7525230",
language = "English (US)",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2110--2115",
booktitle = "2016 American Control Conference, ACC 2016",
address = "United States",
note = "2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",
}