The Nonholonomic Motion Planning and Control of the Unicycle Mobile Robot

摘要

The nonholonomic motion planning and control of a unicycle robot was studied and a new algorithm was proposed. The problem of optimal control in infinite dimension space was converted to the problem in finite dimension space by parameterizing the controller. The control space was divided into the first subspace with holonomic constraint and the second subspace with nonholonomic constraint. Then the problem in the whole control space was transformed into the problem in the second subspace. Particle Swarm Optimization was used to design the nonholomic motion planning algorithm of the unicycle. Computer simulations were carried out to compare the results the results with the results of Newton Algorithm and modified Newton Algorithm. The model of the system was quoted and the control simulation was given. The results show that the proposed algorithm is feasible and generates the route with less energy.