Title :
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
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;
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
DOI :
10.1109/RAMECH.2008.4681380
