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A novel vector-field-based motion planning algorithm for 3D nonholonomic robots
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AI
DOI：10.1016/j.automatica.2024.111996.png)
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Abstract
En 中文
This paper focuses on the motion planning for mobile robots in 3D, which are modeled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also impose the requirement of the heading direction at the terminal time, which gives rise to a new and more challenging 3D motion planning problem. The proposed planning algorithm involves a novel velocity vector field (VF) over the workspace, and by following the VF, the robot can be navigated to the destination with the specified heading direction. In order to circumvent potential collisions with obstacles and other robots, a composite VF is designed by composing the navigation VF and an additional VF tangential to the boundary of the dangerous area. Moreover, we propose a prioritybased algorithm to deal with the motion coupling issue among multiple robots. Finally, simulations are conducted to verify the theoretical results. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keywords:
Motion planning
Nonholonomic constraint
Vector field
Obstacle avoidance
Collision avoidance
Journal
IF:
5.9
Papers:
1.2W
Citations:
5.2W