Motion Planning of Non-Holonomic Wheeled Robots Using Modified Bat Algorithm

摘要

The chapter proposes a novel optimization framework to solve the motion planning problem of non-holonomic wheeled mobile robots using swarm algorithms. The specific robotic system considered is a vehicle with approximate kinematics of a car. The configuration of this robot is represented by position and orientation of its main body in the plane and by angles of the steering wheels. Two control inputs are available for motion control including the velocity and the steering angle command. Moreover, the car-like robot is one of the simplest non-holonomic vehicles that displays the general characteristics and constrained maneuverability of systems with non-holonomicity. The control methods proposed in this chapter do not require precise mathematical modeling of every aspect a car-like system. The swarm algorithm-based motion planner determines the optimal trajectory of multiple car-like non-holonomic robots in a given arena avoiding collision with obstacles and teammates. The motion planning task has been taken care of by an adaptive bio-inspired strategy commonly known as Bat Algorithm.