Kinodynamic motion planning for a two-wheeled drive mobile robot using a Harmonic Potential Field

摘要

There are many methods for making a robot with two independent driving wheels move autonomously, but kinodynamic motion planning using HPF (Harmonic Potential Field) was seldom studied up to now. Since a nonholonomic system such as a robot with two independent driving wheels includes complicated nonlinear terms generally, it is hard to realize a stable and tractable controller design: in other words, it needs a specific control method when controlling it. However, about a dynamic control method in the motion planning, it is guaranteed that a nonholonomic controlled object can always be converged to an arbitrary point using a control method based on an invariant manifold. In this research, it is aimed at realizing kinodynamic motion planning for a robot with two independent driving wheels by combining the control based on the invariant manifold and the HPF. In this paper, how to combine the invariant manifold control and the concept of the HPF is explained in detail, and the usefulness of the proposed approach is verified through some simulations.