Influence of Dynamic Characteristics of Servo System for Wheeled Mobile Robots on Path Planning Accuracy and Collaborative Improvement

Abstract

The precise navigation of wheeled mobile robots depends on the interaction between servo systems and path planning algorithms. This paper investigates the influence of servo system dynamics on path planning accuracy and proposes collaborative improvement strategies. Traditional approaches often design path planners and servo controllers in isolation, leading to suboptimal performance as the dynamic limitations of the actuation system are neglected. This disconnect causes tracking errors, path deviations, and instability, especially during high-speed maneuvers. To address this, the study systematically analyzes how key dynamic characteristics—servo bandwidth, positioning precision, response speed, and load disturbance rejection—impact path planning accuracy. Findings reveal that insufficient bandwidth and slow response times cause tracking errors, while poor positioning accuracy and disturbance rejection lead to path deviation. In response, this paper introduces a collaborative framework for co-design and co-optimization. Key strategies include implementing dynamic compensation in the servo system based on path demands, developing an adaptive path planning algorithm that incorporates servo constraints, and co-optimizing controller and planning parameters. Simulations validate these strategies, demonstrating that integrating servo dynamics into the path planning process is crucial for high-precision and reliable navigation, enhancing the robustness of autonomous operations.