2024/12/13 by Aykut İşleyen, Abhidnya Kadu, İşleyen, Aykut +5
Engineering · Computer Science · #Robotic Mechanisms and Dynamics #Advanced Vision and Imaging #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.2412.10350
Safe, smooth, and optimal motion planning for nonholonomically constrained\nmobile robots and autonomous vehicles is essential for achieving reliable,\nseamless, and efficient autonomy in logistics, mobility, and service\nindustries. In many such application settings, nonholonomic robots, like\nunicycles with restricted motion, require precise planning and control of both\ntranslational and orientational motion to approach specific locations in a\ndesignated orientation, such as for approaching changing, parking, and loading\nareas. In this paper, we introduce a new dual-headway unicycle pose control\nmethod by leveraging an adaptively placed headway point in front of the\nunicycle pose and a tailway point behind the goal pose. In summary, the\nunicycle robot continuously follows its headway point, which chases the tailway\npoint of the goal pose and the asymptotic motion of the tailway point towards\nthe goal position guides the unicycle robot to approach the goal location with\nthe correct orientation. The simple and intuitive geometric construction of\ndual-headway unicycle pose control enables an explicit convex feedback motion\nprediction bound on the closed-loop unicycle motion trajectory for fast and\naccurate safety verification. We present an application of dual-headway\nunicycle control for optimal sampling-based motion planning around obstacles.\nIn numerical simulations, we show that optimal unicycle motion planning using\ndual-headway translation and orientation distances significantly outperforms\nEuclidean translation and cosine orientation distances in generating smooth\nmotion with minimal travel and turning effort.\n