A New Performance-Based Motion Planner for Nonholonomic Mobile Robots

We address the global trajectory planning problem of nonholonomic mobile robots in environments with static and dynamic obstacles. The global trajectory is composed of regional feasible trajectories which satisfy the dynamics of the robot kinematic model. Piecewise constant parameterization is used to construct regional feasible trajectory and steering control, and collision avoidance criterion is derived. Performance considered in the paper include robot safety, geometry-based criteria, time-based criteria, and physics-based criteria. Regional analytic trajectory solutions facilitate performance evaluation of the global trajectory. Simulations show a good performance of the planned trajectory using the proposed scheme.