Motion Planning for Robot with Nonholonomic Constraints
XU Na1, CHEN Xiong1, KONG Qingsheng1, HAN Jianda2
1. Department of Electronic Engineering, Fudan University, Shanghai 200433, China;
2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
An improved RRT(rapidly-exploring random tree) algorithm is presented from the definition of nonholonomic constraints to solve the motion planning problem for mobile robots with dynamics constraints.The algorithm combines the nonholonomic constraints of mobile robot with RRTs.For RRTs,in order to reduce unnecessary costs caused by uniformly random searching in the global state space,the idea of goal bias is introduced and the distance parameter with low computational complexity is also selected to increase the calculation speed.Simulation experiments with several typical robot motion planning with nonholonomic constraints verify the validity and high efficiency of the algorithm.
[1] Arkin R C.Behavior-based robotics[M]. 1st ed.Cambridge,USA:MIT Press,1998:1-3.
[2] Lozano-Perez T.Spatial planning:A configuration space approach[J]. IEEE Transactions on Computers,1983,32(2):108-120.
[3] LaValle S M.Rapidly-exploring random trees:A new tool for path planning[R]. Iowa,USA:Computer Science Deparunent,lowa State University,1998.
[4] LaValle S M,Kuffner J J.Randomized kinodynamic planning[J]. International Journal of Robotics Research,2001,20(5):378-400.
[5] 康亮,赵春霞,郭剑辉.基于模糊滚动RRT算法的移动机器人路径规划[J]. 南京理工大学学报:自然科学版,2010,34(5):642-648.Kang L,Zhao C X,Guo J H.Path planning based on fuzzy rolling rapidly-exploring random tree for mobile robot[J]. Journal of Nanjing University of Science and Technology:Natural Science,2010,34(5):642-648.
[6] Kuffner J J,LaValle S M.RRT-connect:An efficient approach to single-query path planning[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,2000:995-1001.
[7] Rodriguez S,Tang X Y,Lien J M.An obstacle-based rapidlyexploring random tree[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2006:895-900.
[8] Szadeczky-Kardoss E,Kiss B.Extension of the rapidly exploring random tree algorithm with key configurations for nonholonomic motion planning[C]//IEEE International Conference on Mechatronics.Piscataway,NJ,USA:IEEE,2006:363-368.
[9] Ferguson D,Stentz A.Anytime RRTs[C]//Proceedings of the International Conference on Intelligent Robots and Systems.Piscataway,N J,USA:IEEE,2006:5369-5375.
[10] de Smith J.Distance and path:The development,interpretation and application of distance measurement in mapping and modeling[D]. London,UK:University College of London,2003.
[11] 刘磊,向平,王永骥,等.非完整约束下的轮式移动机器人轨迹跟踪[J]. 清华大学学报:自然科学版,2007,47(S2):1884-1889.Liu L,Xiang P,Wang Y J,et al.Trajectory tracking of a nonholonomic wheeled mobile robot[J]. Journal of Tsinghua University:Science and Technology,2007,47(S2):1884-1889.
[12] LaValle S M.Planning algorithms[M]. Cambridge,UK:Cambridge University Press,2006:722-724.
[13] Choset H,Lynch K M,Hutchinson S,et al.Principles of robot motion:Theory,algorithms,and implementations[M]. Cambridge,USA:MIT Press,2005:406-407.