Title :
Optimal motion planning for a wheeled mobile robot
Author :
Weiguo, Wu ; Huitang, Chen ; Peng-Yung, Woo
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Abstract :
Concerns the time optimal motion planning problem under kinematic and dynamic constraints for a 2-DOF wheeled mobile robot (WMR). The dynamic model of a WMR is derived using a Newton-Euler method and its constraints are analyzed. Kinematic constraints are imposed by its nonholonomy and structural limits while dynamic constraints are due to motor saturation. The motion planning problem is formulated as two stage planning. First, path planning under kinematic constraints is transformed into a pure geometric problem. The shortest path composed of circular arcs and straight lines is obtained. Then, combined with dynamic characteristics of the WMR, a time optimal velocity profile is generated under dynamic constraints. Since constraints of a WMR are fully exploited, the proposed method is simple and effective for motion planning. Simulation results illustrate the capability of the planning scheme
Keywords :
geometry; mobile robots; path planning; robot dynamics; robot kinematics; time optimal control; Newton-Euler method; circular arcs; dynamic constraints; dynamic model; kinematic constraints; motor saturation; optimal motion planning; pure geometric problem; shortest path; straight lines; time optimal velocity profile; wheeled mobile robot; Equations; Manipulator dynamics; Meeting planning; Mobile robots; Motion control; Motion planning; Path planning; Robot kinematics; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769928
