Improved hybrid A* path planning method for spherical mobile robot based on pendulum

This article proposes a modification of hybrid A* method used for navigation spherical mobile robots with the ability limited partial lateral movement driven by pendulum. For pendulum-driven nonzero minimal turning radius, our helps to find feasible and achievable path, which can be followed in line low time cost. Because shell shape, robot is point contact ground, showing different kinematic model compared common ground such as differential wheeled car-like robot. Therefore, this analyzes novel generate paths conforming constraints, initial value future trajectory tracking control further optimization. A concept optimal robot’s minimum area rotation also proposed improve search efficiency ensure any orientation moving forward backward finite number times within areas.