Optimal Motion Generation for Mobile Robot with Non-Skidding Constraint
Jiuchun Gao, Anatol Pashkevich, Fabien Claveau, Philippe Chevrel · 2019
The paper presents a new motion generation technique for a mobile robot that is able to find time-optimal motions along a curved path that takes into account limitations of the driving motors and also ensures the wheels rolling without skidding. Mathematically, the problem is presented as a time-optimal control of a second order dynamic system under constraints on the control input, the first derivative of output, and also mixed constraint on the control variable and the output derivative. After the state space discretization, the original problem is converted into the combinatorial one where the desired robot trajectory is presented a shortest path on the relevant graph. To find this path and ensure its physical implementation, dynamic programming is applied that allows creating a set of feasible trajectories, the best one of which is selected at the final stage. Advantages of the proposed technique and its suitability of real-time control are illustrated by several examples dealing the mobile robot motion along the elliptic and star-type paths.