Abolfazl Mohebbi - BSc Graduate, Isfahan University of Technology
Mehdi Keshmiri - Associate Professor
Mohammad Keshmiri - MSc Graduate, Isfahan University of Technology

In this paper, a method for trajectory planning for a Small tracked Unmanned Ground Vehicle (SUGV) in many specified paths is presented. The Planar motions of tracked vehicles are mostly described by three force and moment equations with two independent control input variables. A dynamic nonholonomic constraint is represented with force equation perpendicular to the tracks which is definitely dependent on vehicle speedand couples path planning of the vehicle with the trajectory planning. Calculation of required angular velocity of sprocket and also nominal track forces of vehicle is also presented so that the vehicle follows a specified path at desired speeds.

Small Unmanned Ground Vehicle trajectory planning, path planning,nonholonomic constraint, track forces