Genetic Algorithm-Based Nonholonomic Motion Planning of the Wheeled Mobile Robot

Abstract

The optimal nonholonomic motion planning problem of the wheeled mobile robot is discussed in this paper. Based on the nonholonomic constraints, the motion plann ing problem of the wheeled mobile robot is transformed into an optimal control p roblem of the nonlinear system. The Genetic Algorithm of optimal control for mo tion planning is proposed. The effectiveness of the approach is shown by the num erical simulation.