Path planning for wheeled mobile robots using an optimal control approach
Belinda Matebese · SUNScholar (Stellenbosch University) · 2019
To illustrate the effectiveness of the algorithm numerically, a quadratic cost with the control objective of steering the mobile robot from an initial state to a final state while avoiding obstacles is minimized.Simulations and numerical results are presented for environments with and without obstacles.A comparison is made between the Leapfrog method and the BVP4C optimization algorithm, and also the kinodynamic-RRT * algorithm.The Leapfrog method shows value for continued development as a path planning method since it initializes easily, finds kinematically feasible paths without the need of post processing and where other techniques may fail.To our knowledge the work presented here is the first application of the Leapfrog method to find optimal trajectories for motion planning on a two-wheeled mobile robot and mobile manipulator.