Integrating path-planning and control for robotic unicycles

2025-07-03

AI Summary

To address insufficient path-tracking accuracy and stability of robotic unicycles during acceleration/deceleration and multimodal operation, this paper proposes a framework integrating piecewise path planning with dynamics-aware coordinated control. Methodologically, the path is decoupled into straight segments—governing longitudinal acceleration/deceleration—and curved segments—governing steering—wherein the curvature distribution along the latter is optimized to enhance steering responsiveness and control feasibility while respecting wheel-ground adhesion constraints (i.e., preventing slip). An integrated controller is further designed, embedding an accurate dynamic model and enabling closed-loop coordination between path planning and control execution. Simulation results demonstrate that the proposed approach significantly improves trajectory tracking accuracy, robustness, and overall system stability under complex, unstructured paths.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Humans and AI: Human-Aware Planning and Behavior Prediction

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Security and Privacy: Tracking, profiling, and countermeasures against them

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.

Problem

• Integrate path-planning and control for robotic unicycles
• Optimize curvature profiles considering control and slipping limits
• Demonstrate performance via numerical simulations

Innovation

• Integrates path-planning and control for unicycles
• Segments paths into straight and curved sections
• Optimizes curvature profiles considering slipping limits