Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint

Abstract

The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, we formulate the admissible region for two-wheeled mobile robots with a motor control input constraint (AR-TM). Second, we identify the characteristic switching points (CSPs) to construct limit curve. Third, we determine a bang-bang control input solution at each traveled distance. Finally, we suggest a MTTG-CP algorithm based on the bang-bang control using phase-plane technique within the limit curve. Validity of our minimum-time trajectory generation algorithm along the clothoidal curved path is revealed via extensive simulations.