Local motion planner for nonholonomic mobile robots in the presence of the unknown obstacles

This paper deals with the problem of motion planning for a unicycle-like robot. A simple local planner for unicycle model, based on an approximation of the desired configuration generated by local holonomic planner that ignores motion constraints, is presented. To guarantee a collision avoidance, we propose an inequality constraint, based on the motion analysis with the constant control input and time interval. Consequently, we formulate the problem as a constrained optimization problem, and a feedback scheme based on local sensor information is established by simply solving this problem. Through simulations, we confirm the validity and effectiveness of our algorithm