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Path Planning for Underactuated Dubins Micro-robots Using Switching Control

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Open access
Authors
An, Y.
Xu, C.
Lin, Qun
Loxton, Ryan
Teo, Kok Lay
Date
2013
Type
Conference Paper

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An, Y. and Xu, C. and Lin, Q. and Loxton, R. and Teo, K.L. 2013. Path Planning for Underactuated Dubins Micro-robots Using Switching Control, in Sun, Y. and Wang, Q. (ed), Proceeding of the 10th IEEE International Conference on Control and Automation (ICCA), Jun 12-14 2013, pp. 1403-1408. Hangzhou, China: IEEE.
Source Title
Proceedings of the 2013 10th IEEE International Conference on Control and Automation (ICCA2013)
Source Conference
2013 10th IEEE International Conference on Control and Automation (ICCA 2013)
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Department of Mathematics and Statistics
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Abstract

In this paper, we develop an optimal path planning strategy for under-actuated Dubins micro-robots. Such robots are non-holonomic robots constrained to move along circular paths of fixed curvature clockwise or counter-clockwise. Our objective is to investigate the coverage and optimal path problems, as well as multi-robot cooperation, for a switching control scheme. Our methods are based on elementary geometry and optimal control techniques. The results in this paper show that the trajectories of micro-robots can cover the entire two-dimensional plane, and that the proposed switching control scheme allows multiple robots to cooperate. In addition, we deduce the minimum-time path under the switching control scheme by converting the robot model into the traditional Dubins vehicle model.