Accounting for mobile robot dynamics in sensor-based motion planning

摘要

The effect of robot dynamics on autonomous navigation is a key issue in sensor-based motion planning. For example, other things being equal, when it sees an obstacle at a short range, a heavy moving robot may not be able to execute a sharp detour that would be easy for a light robot. In most existing work, the solution is attempted by separating the planning and control into two sequential stages; unfortunately, this will likely have an adverse effect on the algorithm convergence. The strategy proposed in this article solves the problem by combining motion planning and control within a single-stage procedure. The procedure exhibits good dynamic behaviour, while providing safety (collision avoidance) and fast response. Results of testing the approach on a commercial Nomad-200 mobile robot are presented. Also discussed is the effect of model parameters on motion performance.