Integrating path-planning and control for robotic unicycles

TL;DR

This paper presents an integrated approach combining path-planning and control specifically designed for robotic unicycles, optimizing curvature profiles for improved maneuverability and safety, validated through numerical simulations.

Contribution

It introduces a novel integrated path-planning and control method tailored for robotic unicycles, considering their unique dynamics and slip limits.

Findings

Optimized curvature profiles improve maneuverability.

Numerical simulations validate the integrated approach.

Path segmentation enhances control performance.

Abstract

This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The proposed path-planning method segments the path into straight and curved path sections dedicated for accelerating/breaking and turning maneuvers, respectively. The curvature profiles of the curved sections are optimized while considering the control performance and the slipping limits of the wheel. The performance of the proposed integrated approach is demonstrated via numerical simulations.