Real-time motion planning for an autonomous mobile robot with wheelground adhesion constraint

• Published in: Advanced robotics
• Main Authors: Gao, Jiuchun, Claveau, Fabien, Pashkevich, Anatol, Chevrel, Philippe, Abdessamed, Ramdane
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 08.03.2023
• Subjects: Automatic; Engineering Sciences; autonomous mobile robot; real-time motion planning; time-optimal trajectory; wheel-ground adhesion; dynamic programming

The paper proposes a new real-time motion planning technique for an autonomous mobile robot that is able to find a collision-free path and a corresponding time-optimal trajectory while taking into account limits on the actuator capacities and constraints from the wheel-ground adhesion. The proposed...