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Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

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Abstract

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.

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Authors and Affiliations

  1. Department of Systems Engineering and Control, Technical University of Valencia, Camino de Vera s/n, P.O. Box 22012, Valencia, Spain

    Luis Gracia & Josep Tornero

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  1. Luis Gracia
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  2. Josep Tornero
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Correspondence to Luis Gracia.

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Gracia, L., Tornero, J. Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity. J Intell Robot Syst 53, 145–168 (2008). https://doi.org/10.1007/s10846-008-9236-3

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  • DOI: https://doi.org/10.1007/s10846-008-9236-3

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