Trajectory Planning of a Robotic Vehicle Based on Tentacle Method

Abstract

Four-wheeled robots have received special research attention in recent years and their applications range from advanced driver assistance systems (ADAS) up to autonomous navigation systems. In the latter, path planning and motion control are fundamental tasks. This work consists of applying the approach of the tentacles in the form of clothoids as a local planning technique applied to a robotic electric vehicle with electronic differential to perform overtaking maneuvers when the vehicle detects unexpected static objects in the lane. Moreover, a Linear Quadratic Regulator (LQR) is designed from a linearized 2D vehicle model as a low-level control strategy for tracking the desired path. Finally, simulations are performed to evaluate the performance of the proposed strategy, which showed a good response to the combination of the tentacles in the form of clothoids with the LQR controller.