Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot

Designed for planetary exploration, a spherical mobile robot BHQ-1 was briefly introduced.The motion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quantities.Based on the model, the time- and energy-based optimal trajectory of BHQ-1 was planned with Hamiltonian function.The effects of three key coefficients on the shape and direction of the planned trajectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle was presented to validate the trajectory planning method.