Algorithm of Dynamic Motion Planning for Wheeled Mobile Robot with Kinematic Nonholonomic Constraints
Shuangyan Li · Kongzhi yu juece · 2005
In term of kinematic model of wheeled mobile robot, the motion planning under nonholonomic robotic rolling constraint is discussed. An algorithm is presented by combining optimization and rapidly-exploring random tree(RRT). The improved RRT generates local targets and new states with special iterative way to reach the given goal state. Optimization is used to derivate control input which can satisfy mobile robot kinematic nonholonomic constraint. The algorithm is applied to the mobile robot motion planning in dynamic environment. The result shows that the algorithm can successfully guide robot following avoidance obstacles path with nonholonomic constraint in dynamic environment.