Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration

Author

Zhan, Qiang ; Cai, Yao ; Liu, Zengbo

Author_Institution

Robot Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., Beijing

fYear

2008

fDate

21-24 Sept. 2008

Firstpage

84

Lastpage

89

Abstract

Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllability was proved with controllable Lie algebra. Based on the Ritz approximation theory, the near-optimal trajectory of BHQ-2 was planned with the Gauss-Newton algorithm. Simulation results and experimental results of the spherical mobile robot to plan trajectory with the method were presented.

Keywords

Lie algebras; approximation theory; mobile robots; path planning; position control; robot kinematics; BHQ-2 spherical mobile robot; Gauss-Newton algorithm; Ritz approximation theory; controllable Lie algebra; environment exploration; kinematic equation; near-optimal trajectory planning; Algebra; Approximation methods; Controllability; Equations; Kinematics; Least squares methods; Mobile robots; Motion planning; Newton method; Trajectory; nonholonomic; spherical mobile robot; trajectory planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2008 IEEE Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1675-2

Electronic_ISBN

978-1-4244-1676-9

Type

conf

DOI

10.1109/RAMECH.2008.4681380

Filename

4681380