Kinematic Modelling and Graphic Simulation of Path Planning for Mobile Vehicles

摘要

This paper discusses ongoing research being done in the modeling and simulation of intelligent mobile vehicles. In order to model the path execution of mobile vehicles, one must first develop the kinematic equations which represent the specific vehicle characteristics. Two types of vehicles discussed in this paper are omni-directional and conventionally steered designs. Significant trade-offs are incurred by the choice of vehicle (e.g., complexity of control versus complexity of design). These trade-offs are presented and discussed in relation to the vehicle's environment. Having formed a proper kinematic model of the vehicle, graphic simulation of path execution can be displayed. Aspects of this simulation include displaying the physical environment and the planned vehicle path. Through utilization of such graphic simulations, greater insight into vehicle performance can be gained. (ERA citation 11:030351)