Experimental study on optimal motion planning of wheeled mobile robot using convex optimization and receding horizon concept

In this paper, a novel algorithm for collision-free motion planning of two wheeled mobile robots is presented. The proposed approach stands on discrete motion planning, convex optimization and model-based control. It was employed for motion planning and control of E-puck mobile robot to pass through an unknown environment both in simulation software in MATLAB and real setting. In this regard, CVX package benefited by the Gurobi solver is employed to solve the optimization problem. Obtained results show the reliability of this algorithm for safe collision avoidance. The reported results reveal this fact that by considering the maximum velocity of the E-puck, obtained computational time is less than 0.2 seconds in each stage which is fast enough for robot motion planning tasks.