Application of the Leapfrog method to robot path planning

摘要

The capability and practical use of mobile robots in real-world applications has resulted in them being a topic of recent research interest. In this paper, motion planning for a mobile robot is considered. The Leapfrog algorithm, a method for solving nonlinear optimal control problems, is applied to generate optimal paths. The Leapfrog method is shown to produce optimal paths in simulations and for examples on a real robot and can find solutions where other solvers may fail.