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Integrated planning and control of large tracked vehicles in open terrain
2010
2010 IEEE International Conference on Robotics and Automation
Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain. This paper presents an integrated motion planning and control system for tracked vehicles. Flexible path-end adjustments and adaptive look-ahead are introduced to a state lattice planning approach with waypoint control. For a given processing horizon, this increases search coverage and reduces planning error. This tramming approach has
doi:10.1109/robot.2010.5509392
dblp:conf/icra/FanSONHLD10
fatcat:7hsoajdd6bagzhi3ujfzi6shka