Research on nonholonomic motion planning of the unicycle mobile robot

摘要

The nonholonomic motion planning problem of the unicycle mobile robot is discussed and a new algorithm in optimizing the unicycle's route is proposed.The problem of optimizing the controller in infinite dimension space is converted to the optimizing problem in finite dimension space by parameterizing the controller. The control space is then divided into the first subspace with nonholonomic constraint and the second subspace without such constraint.Thus the problem in the whole control space is transformed into one that searches for the optimum in the second subspace.Particle Swarm Optimization is used to design the nonholomic motion planning algorithm of the unicycle.Finally,the emulated results is given and compared with Newton Algorithm, modified Newton Algorithm. The results show that the algorithm in this article is feasible and generates the route which needs less energy.