In this paper, we treat the problem of trajectory planning of an unmanned ground vehicle evolving on an uneven terrain. In such environment, the role of the suspension system cannot be neglected and a vehicle vertical model has to be taken into account. In the present work, we present three reduced models with different level of complexity. These models make possible to handle the constraints inherent to stability, embedded equipment safety and suspension mechanical integrity.An optimization problem is also formulated in order to define the optimal speed profile for a safety behaviour of the mobile robot.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.