Dynamic Trajectory Planning of a Spherical Mobile Robot

A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective.