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Kinematics, kinematic constraints and path planning for wheeled mobile robots

Published online by Cambridge University Press:  09 March 2009

Yongji Wang ,
J.A. Linnett  and
J. Roberts
Yongji Wang
Affiliation:
Mechanical Engineering Department, The University of Edinburgh, Kings Building, Edinburgh EH9 3JL (UK)
J. Roberts
Affiliation:
Mechanical Engineering Department, The University of Edinburgh, Kings Building, Edinburgh EH9 3JL (UK)
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Summary

The problem associated with planning a collision-free path for a wheeled mobile robot (WMR) moving among obstacles in the workspace is investigated in this paper. A kinematic model, including the general nonholonomic constraint equation, is developed first, followed by the analysis of some general maneuvering characteristics of the WMR. The analytic solutions to the typical path curves, such as circle and straight line, which are important in the path planning problem, are also derived. From the analysis of the established kinematic model, some factors which affect the path planning problem for a WMR and therefore must be taken into account are revealed and the general description of the path planning problem for a WMR is formuated. In conclusion, a possible architecture of the algorithm for a practical WMR is presented.

Keywords

KinematicsPath planningMobile robotKinematic model
Type
Article
Information
Robotica , Volume 12 , Issue 5 , September 1994 , pp. 391 - 400
Copyright
Copyright © Cambridge University Press 1994

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