An analysis on flexible formations of nonholonomic mobile robots: Motion planning and control perspectives

2016 ◽  
Author(s):  
Chang Boon Low
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Nonholonomic Mobile Robots ◽  
Planning And Control ◽  
And Control

scholarly journals Integrated motion planning and control for graceful balancing mobile robots

2013 ◽  
Vol 32 (9-10) ◽  
pp. 1005-1029 ◽  
Author(s):  
Umashankar Nagarajan ◽  
George Kantor ◽  
Ralph Hollis
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Planning And Control ◽  
And Control

Optimal Motion Planning for Differential Drive Mobile Robots based on Multiple-Interval Chebyshev Pseudospectral Methods

Robotica ◽  
2020 ◽  
pp. 1-20
Author(s):  
Run Mao ◽  
Hongli Gao ◽  
Liang Guo
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Planning Problem ◽  
Nonholonomic Mobile Robots ◽  
Dynamic Constraints ◽  
Optimal Motion Planning ◽  
Single Interval ◽  
And Performance ◽  
And Control ◽  
Chebyshev Pseudospectral

SUMMARY This paper presents a Chebyshev Pseudospectral (PS) method for solving the motion planning problem of nonholonomic mobile robots with kinematic and dynamic constraints. The state and control variables are expanded in the Chebyshev polynomial of order N, and Chebyshev–Gauss–Lobatto (CGL) nodes are provided for approximating the system dynamics, boundary conditions, and performance index. For the lack of enough nodes nearby the obstacles, the interpolation of trajectory may violate the obstacles and the multiple-interval strategy is proposed to deal with the violation. Numerical examples demonstrate that multiple-interval strategy yields more accurate results than the single-interval Chebyshev PS method.

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