Energy optimization in Newton-based nonholonomic motion planning

Abstract

In this paper the energy efficient Newton algorithm applied to nonholonomic motion planning is presented. The energy optimization is performed by coupling motion in the null space of the Jacobian matrix derived from the nonholonomic system, which gives the energetic efficiency, and the motion towards the goal, saving the convergence property. Resulting controls are smooth and easy to generate for motors or thrusters. The method can be used to steer free-floating objects as well as mobile robots.