Path Planning for Underactuated Dubins Micro-robots Using Switching Control
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,...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Published: |
IEEE
2013
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| Online Access: | http://hdl.handle.net/20.500.11937/30597 |
| _version_ | 1848753133528809472 |
|---|---|
| author | An, Y. Xu, C. Lin, Qun Loxton, Ryan Teo, Kok Lay |
| author2 | Youxian Sun |
| author_facet | Youxian Sun An, Y. Xu, C. Lin, Qun Loxton, Ryan Teo, Kok Lay |
| author_sort | An, Y. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T08:19:40Z |
| format | Conference Paper |
| id | curtin-20.500.11937-30597 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:19:40Z |
| publishDate | 2013 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-305972023-02-13T08:01:33Z Path Planning for Underactuated Dubins Micro-robots Using Switching Control An, Y. Xu, C. Lin, Qun Loxton, Ryan Teo, Kok Lay Youxian Sun Qing-Guo Wang 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. 2013 Conference Paper http://hdl.handle.net/20.500.11937/30597 10.1109/ICCA.2013.6565059 IEEE fulltext |
| spellingShingle | An, Y. Xu, C. Lin, Qun Loxton, Ryan Teo, Kok Lay Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title | Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title_full | Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title_fullStr | Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title_full_unstemmed | Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title_short | Path Planning for Underactuated Dubins Micro-robots Using Switching Control |
| title_sort | path planning for underactuated dubins micro-robots using switching control |
| url | http://hdl.handle.net/20.500.11937/30597 |