Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning: Experimental Results

The eeect of robot dynamics on autonomous navigation is a key issue in sensor-based motion planning. In most of existing works, the solution is attempted by separating the planning and control into two sequential stages; as a minus, this may, for example, adversely eeect the algorithm convergence. The strategy proposed in this paper solves the problem by combining motion planning and control within a single-stage procedure. The procedure exhibits good dynamic behavior, while providing safety (collision avoidance) and fast response. Results of testing the approach on a commercial Nomad{200 mobile robot are presented. Also discussed is the eeect of model parameters on motion performance.