Stable Motion Planning for Dynamic Nonholonomic Mobile Robots

In this paper, a novel control law for motion planning for nonholonomic robots incorporating their dynamic models is presented. The controllers are designed with four possible combinations of moving directions, heading directions and force application directions. Using only geometric information, the derived control is not only effective, but also computationally efficient, which is essential for real-time applications. Validation on a dynamic model of a Hilare robot shows that the derived control laws can successfully navigate the robot to avoid multiple obstacles. Finally the stability of the control laws is proved by using Lyapunov theory