Open AccessOptimal motion planning of differential-drive mobile robots based on trapezoidal collocation method
Author(s) -
Run Mao,
Hongli Gao,
Lanping Guo
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1341/5/052007
Subject(s) - motion planning , nonholonomic system , mobile robot , optimal control , orthogonal collocation , lagrangian mechanics , control theory (sociology) , computer science , collocation (remote sensing) , mathematical optimization , nonlinear system , collocation method , robot , nonlinear programming , differential (mechanical device) , point (geometry) , differential equation , mathematics , ordinary differential equation , engineering , control (management) , analytical mechanics , artificial intelligence , quantum dynamics , mathematical analysis , quantum , quantum mechanics , machine learning , physics , aerospace engineering , geometry
This study focuses on optimal motion planning for nonholonomic constraints mobile robot. We formulate the dynamics model of a differential-drive mobile robot by using Lagrangian mechanics, where the nonholonomic constraints are accurately described through differential equations. The optimal motion planning of the system is constructed as an optimal control problem which is then converted to a nonlinear programming problem by introducing trapezoidal collocation method, and the formulated nonlinear programming is solved by interior-point method. Compared with the prevailing methods in the field of motion planning, our proposed method can handle different kinds of path constraints, terminal conditions and collision-avoidance requirements. Simulation results indicate that the proposed approach can efficiently deal with various user-specified requirements with advantage of high computing efficiency.