Robot Motion Planning
A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints
Journal of Intelligent and Robotic Systems
A Shortest Path Based Path Planning Algorithm for Nonholonomic Mobile Robots
Journal of Intelligent and Robotic Systems
Near Optimal Robust Path Planning for Mobile Robots: the Viscous Fluid Method with Friction
Journal of Intelligent and Robotic Systems
A Discrete Method for Time-Optimal Motion Planning of a Class of Mobile Robots
Journal of Intelligent and Robotic Systems
Optimal Robot Speed Trajectory by Minimization of the Actuator Motor Electromechanical Losses
Journal of Intelligent and Robotic Systems
Deliberative On-Line Local Path Planning for Autonomous Mobile Robots
Journal of Intelligent and Robotic Systems
Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots
Journal of Intelligent and Robotic Systems
Path Manifold-based Kinematic Control of Wheeled Mobile Robots Considering Physical Constraints
International Journal of Robotics Research
Characterization of zero tracking error references in the kinematic control of wheeled mobile robots
Robotics and Autonomous Systems
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This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.