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控制理论与应用 2004
Motion planning for nonholonomic robot with dynamic modeling
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Abstract:
The work addresses the motion planning problem of nonholonomic mobile robot by considering kinematic and dynamic constraints on the robot motion.Under the known working environment,the cubic spiral curve was used to smooth the collision-free path based on the dynamic model and non-slipping nonholonomic kinematic constraint of mobile robot.It thus made the robot easy to track,and took into account the motor's speed limits of robot.Finally,numerical simulations were performed using Matlab to illustrate the effectiveness of the proposed planning method.
