Path Planning for Nonholonomic Mobile Robot in Dynamic Environment

Liang Kang; Lian Cheng Mao

doi:10.4028/www.scientific.net/AMM.462-463.771

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 462-463Path Planning for Nonholonomic Mobile Robot in...

Path Planning for Nonholonomic Mobile Robot in Dynamic Environment

Abstract:

Based on introduction of the fluid diffusion energy, the model for path planning is presented. The adaptive mesh is used to solve the equation model for path planning. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the equation of the fluid diffusion energy for nonholonomic mobile robot path planning is feasible and effective.

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Periodical:

Applied Mechanics and Materials (Volumes 462-463)

Pages:

771-774

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.462-463.771

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Online since:

November 2013

Authors:

Liang Kang, Lian Cheng Mao

Keywords:

Dynamic Environment, Mobile Robot, Path Planning

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