Overview : This project introduces an energy-optimal motion planning algorithm for differential drive robots navigating around circular obstacles. Instead of relying on the standard unicycle model, the approach uses a non-canonical kinematic formulation and applies calculus of variations to derive necessary conditions for optimality. A detailed parametric study highlights how obstacle size influences optimal trajectories, revealing three distinct maneuver strategies. The framework is further generalized by incorporating entry and exit times as decision variables, making the method applicable to a wide range of motion scenarios.

🔍To see the image in full size, right-click on it.