Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration

Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllabili...

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Bibliographic Details
Main Authors: Qiang Zhan, Yao Cai, Zengbo Liu
Format: Conference Proceeding
Language:English
Subjects:
Algebra
Approximation methods
Controllability
Equations
Kinematics
Least squares methods
Mobile robots
Motion planning
Newton method
nonholonomic
spherical mobile robot
Trajectory
trajectory planning
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Summary:Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllability was proved with controllable Lie algebra. Based on the Ritz approximation theory, the near-optimal trajectory of BHQ-2 was planned with the Gauss-Newton algorithm. Simulation results and experimental results of the spherical mobile robot to plan trajectory with the method were presented.
ISSN:2158-2181
DOI:10.1109/RAMECH.2008.4681380