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

Kimiko Motonaka, Tsuyoshi Goto, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages6140-6145
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - Dec 21 2016
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: Oct 24 2016Oct 27 2016

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period10/24/1610/27/16

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Motonaka, K., Goto, T., Watanabe, K., & Maeyama, S. (2016). Kinodynamic motion planning for a two-wheeled drive mobile robot using a Harmonic Potential Field. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 6140-6145). [7793160] IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793160