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

Volume

1

fYear

1999

fDate

1999

Firstpage

41

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.769928

Filename

769928