Vector-Potential-Function-based Motion Planning for Nonholonomic Robots in a Complex Workspace

Anugrah K. Pamosoaji and Keum-Shik Hong


Motion planning and control, vector potential functions, velocity vector fields, triangular regions


A motion planning algorithm for a nonholonomic robot in a complex workspace is investigated. The proposed method is that which utilizes vector potential functions combined with a triangular-region decomposition of the workspace. The triangular regions composing the workspace are classified into three classes: empty, obstacle-inside, and goal regions. The robot’s mission is achieving a goal configuration (position and orientation) from any initial configuration in the workspace. The vector functions are defined on the regions’ boundaries, obstacles’ center point, and the goal position. To deal with some constraints, i.e., maximum velocities, a set of parameter-scaling rules is provided. A state-feedback controller for a wheeled mobile robot is used to show that the generated motion plan can be tracked by the robot. Simulation results showing the motion planning from different initial configuration are presented.

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