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SSTP-RRT Confirmation Experiment
- Citation Author(s):
- Submitted by:
- Yu ZHANG
- Last updated:
- Wed, 05/18/2022 - 11:55
- DOI:
- 10.21227/vkez-m813
- License:
79 Views- Categories:
Abstract
The experiment of fixing the velocity of both sprockets of UTV proves that the tracked vehicle slips considerably when steering on a slope, making it impossible for the vehicle to follow the desired trajectory precisely, and it is necessary to propose an effective and feasible solution specifically for the motion planning of UTV slope-steering. Through the slope-steering verification experiments of UTV, the accuracy and feasibility of the SSTP-RRT motion planning algorithm are verified, providing effective technical support for the accurate driving of UTV slope-steering.
The SSTP-RRT motion planning algorithm is proposed for the slope-steering velocity planning of unmanned tracked vehicles ignoring the track sliding problem. The PSO-LM algorithm is proposed and solved accurately for the problem of choosing the initial values for the solution of the non-linear system of equations of the model; the vehicle velocity, steering radius, and heading angle are taken as the independent variables. The output rotational velocities of the sprockets are taken as the dependent variables. The data are generated in a pre-computed way, the output can be acquired by the point cloud surface fitting method based on the moving least squares. Based on the PAWN method, a global sensitivity analysis is carried out for the UTV slope-steering model. Based on the sensitivity index, the calculation step of the independent variables is designed to ensure the accuracy of the output data and reduce the amount of computational data.
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