Method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach

摘要

A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.