非ホロノミックCaplygin Systemの近似最適軌道計画

概要

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Nonholonomic motion planning becomes one of the prime issue in robotics fields in the last ten years, and a lot of path or trajectory planning techniques are proposed by many researchers. Some of them are elegant and some are efficient, but almost all the methods has a same drawback, that is, they determine the motion based on the kinematic model derived from nonholonomic constraints without considering system dynamics. In this paper, we address a problem of optimal trajectory planning for Caplygin systems which are typical nonholonomic systems, and propose an efficient algorithm that can generate a near-optimal trajectories considering system dynamics. Proposed algorithm combines the concept of geometric phase, path parameterization technique by using B-spline, trajectory optimaization algorithm along a specified path which are originally developed for motion planning of robotic manipulators and a nonlinear programming formulation. Two examples, the rolling disk and the planner space robot, are given to illustrate the effectiveness of the proposed method.
社団法人日本ロボット学会の論文
1999-07-15