Path planning of the Nonholonomic Pole Climbing Robot UT-PCR

Abstract

This paper deals with the path planning of the nonholonomic pole climbing robot, UT-PCR. The state equations in the velocity space are first derived in which the nonholonomic constraint is easily shown. Subsequently, according to the derived equations and considering the nonholonomic constraint, canonical paths are defined and a suitable control method is obtained. Finally, the practicality of the proposed method is tested via simulation on the model of the UT-PCR.