Article Versions
Export Article
Research Article
Open Access Peer-reviewed

Motion Planning of Mobile Robot

Tomáš Lipták1,, Michal Kelemen1, Alexander Gmiterko1, Ivan Virgala1, Darina Hroncová1

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

Journal of Automation and Control. 2017, 5(2), 54-59. DOI: 10.12691/automation-5-2-5
Published online: December 11, 2017

Abstract

The article deals with the issue of mathematical modelling of wheeled mobile robot. The introductory part of article contains theory regarding different approaches of mathematical modelling that we used. Further we applied these methods of mathematical modelling to wheeled mobile robot and we determined the mathematical model. The last part contains the motion planning in the base space and motion planning in the fiber space. These simulations of movement were realized in MATLAB.

Keywords:

lagrangian mechanics, geometric mechanics, mathematical modelling, motion planning
[1]  J. H. Reif. Complexity of the mover’s problem and generalizations. In Proceedings IEEE Symposium on Foundations of Computer Science, pages 421-427, 1979.View Article 
 
[2]  H. H. Gonzalez-Banos, D. Hsu, and J. C. Latombe. Automous Mobile Robots: Sensing, Control, Decision-Making and Applications, chapter Motion Planning: Recent Developments. CRC Press, 2006.View Article 
 
[3]  S. R. Lindemann and S. M. LaValle. Current issues in sampling-based motion planning. In P. Dario and R. Chatila, editors, Robotics Research: The Eleventh International Symposium, pages 36-54. Springer-Verlag, Berlin, 2005.View Article 
 
[4]  J. T. Schwartz and M. Sharir. A survey of motion planning and related geometric algorithms. Artificial Intelligence Journal, 37: 157-169, 1988.View Article 
 
[5]  H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge, MA, 2005.View Article 
 
[6]  J.-C. Latombe. Robot Motion Planning. Kluwer, Boston, MA, 1991.View Article 
 
[7]  S. M. LaValle. Planning Algorithms. Cambridge University Press, Cambridge, U.K., 2006. Also available at http://planning.cs.uiuc.ed/.View Article  PubMed 
 
[8]  J. Cort´es Monforte, Geometric, control, and numerical aspects of nonholonomic systems. Berlin; Heidelberg: Springer, 2002, vol. 1793.View Article 
 
[9]  Shammas, H. Choset, and A. A. Rizzi, “Geometric motion planning analysis for two classes of underactuated mechanical systems,” The International Journal of Robotics Research, vol. 26, no. 10, pp. 1043-1073, 2007.View Article 
 
[10]  A. Bloch, Nonholonomic mechanics and control. New York: Springer, c2003., vol. v. 24.View Article 
 
[11]  OSTROWSKI J. P.: The Mechanics and Control of Undulatory Robotic Locomotion [thesis]. California Institute of Technology Pasadena, September 19, 1995.View Article