Path Planning for Nonholonomic Mobile Robot in Dynamic Environment
Liang Kang, Lian Cheng Mao · Applied Mechanics and Materials · 2013
Based on introduction of the fluid diffusion energy, the model for path planning is presented. The adaptive mesh is used to solve the equation model for path planning. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the equation of the fluid diffusion energy for nonholonomic mobile robot path planning is feasible and effective.