Finding the Shortest Path for a Mobile Robot With Two Actuated Spoke Wheels Based on Variable Kinematic Configurations

Strategies for finding the shortest path for a mobile robot with two actuated spoke wheels based on variable kinematic configurations are presented in this paper. The optimal path planning strategy proposed here integrate the traditional constrained path planning tools and the unique kinematic configuration spaces of the mobile robot IMPASS (Intelligent Mobility Platform with Actuated Spoke System). IMPASS utilizes a unique mobility concept of stretching in or out individually actuated spokes in order to perform variable curvature radius steering using changing kinematic configuration during its movement. Due to this unique motion strategy, various kinematic topologies produce specific motion characteristics in the way of curvature radius-variable steering. Instead of traditional differential drive or Ackerman steering locomotion, combinational path geometry methods, Dubins’ curve and Reeds and Shepp’s curve are applied to classify optimal paths into known permutations of sequences consisting of various kinematic configurations. Numerical simulation is given to verify the analytical solutions provided by using Lagrange Multiplier.