Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagrams

Abstract

Article history:This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

Path Planning Algorithms in 2-D and 3-D Obstacle-Rich Environments

“…This means that O Ext consists of obstacles 8, 11. The O Core that have been identified by BL then consists of obstacles 14,15,9,8,11 as shown in Fig. 7.…”