摘要：This paper discusses the development and implementation of a motion planning algorithm for a Nonholonomic Car type Wheeled Mobile Robot (WMR) through a specified via point. This technique will prove useful specifically; when the WMR needs to avoid obstacles which are present on the predefined trajectory and when the WMR is to be parked autonomously in the parking slot. A via-point is specified by the user and a trajectory passing through this via-point is generated using the property of differential flatness. Local optimization is employed for optimal trajectory planning. This generated trajectory is always smooth with feasible minimum length satisfying the nonholonomic and holonomic constraints on the car type vehicle and passes through the via-point specified by the user. The contribution of the work lies in reducing complexity of the problem by introducing via-point and local optimization, which results into easy implementation of the algorithm on the hardware setup. The experimentation is carried out on 1:10 reduced model of Cheverolet Camero model to show efficacy of the proposed scheme.
关键词：nonholonomic;optimization;constraints;motion planning;Wheeled Mobile Robot(WMR);autonomous car
