Publications / 2002 Proceedings of the 19th ISARC, Washington, USA

Motion Planning Taking Into Account the Dynamic Model of Vehicles: Application to the Compactor

C. Lemaire, P. Vandanjon, M. Gautier, F. Peyret
Pages 223-228 (2002 Proceedings of the 19th ISARC, Washington, USA, ISSN 2413-5844)

Motion planning is a necessary step before automation in road construction. This paper deals with motion planning for compactors. The compactor is an articulated frame steering vehicle used in road construction. Generally, motion planning uses the kinematic model of the robot. In the case of the compactor, this model is far away from reality because it does not take into account compactor masses and particular drum-soil contact forces. A motion planning which uses both the kinematic and the dynamic model of the compactor is presented in this paper. The advantages of this motion planning are: ? To generate feasible motion for the robot which implies a smoother control law for mechanics, ? Limited slips.

Keywords: Compactor, Mobile robots, Motion planning, Dynamic model