Research On Motion Planning For Nonholonomic Mobile Robot

Mobile robot is a type of nonholonomic control system contained nonholonomic constraints, its research can be helped to resolve such as high precision assembly of robot used widely in industry fields and all kind of precision operation, and celestial body exploring etc., so it has much more significance in the fields of industries, society services, and national defenses.The main works obtained are as follows:1. Since the kinematic model can be easily transformed into chained-form system, we presented a method of motion planning with obstacles constraint for the chained-form of nonholonomic mobile robot. Due to it can conveniently use the mixed piecewise constant and polynomial input to drive chained-form systems to desirable destination, a optimal controller was designed to make robot avoid the obstacle under satisfied a performance function.2. A method of motion planning for nonholonomic robot by considering kinematic and dynamic constraints on the robot motioning was presented. First, the collision-free shortest path was generated by the planner, and then it was modified and smoothed by the cubic spiral curve when robot worked in the known environment, so it can make the robot easy to track. In order to prevent the robot from colliding with the obstacles in the first period, a feedback control law was used to make robot turn to the same direction of the path, and the motor's power limits of robot was also taken into account in case it overloaded or slide in the course of motion.3. The motion planning of nonholonomic robot working in the known or unknown environment was researched. First, the system is input-output linearized, we designed a feedback control law including gradient of artificial potential function to produce a collision free path and then made the robot track the free path. Since the artificial potential function is formulated by using the sensor-based real-time information, and also the motor's power limits of robot are taken into account, it can work in known or unknown environment.4. Nonholonomic mobile robot worked in unknown environment must have the visual system, we adopted the ultrasonic sensors as the visual system, it can make the robot finish the motion planning by the scanning of the sensors to the environment, real-time coped with the information and the goal-seeking functions. The method can...