Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints

Abstract

This paper is concerned with the problem of finding an optimal velocity profile along the predefined path in order to traverse the path in shortest time. A dynamic model of the mobile robot that accounts for robot actuator constraints is derived. It is shown how to use this dynamic model to express acceleration limits and velocity limit curve required by the optimal time-scaling algorithm. The developed trajectory planning algorithm is demonstrated on the Pioneer 3DX mobile robot. A method is very flexible and can be extended to account for other constraints, such as limited grip between the robot wheels and the ground.

Multi Objective Optimization of Trajectory Planning of Non-holonomic Mobile Robot in Dynamic Environment Using Enhanced GA by Fuzzy Motion Control and A*

“…It is used to have smooth movement during the parametric Cubic Spline function of trajectory, and it must give continuous velocity and acceleration. Basically path planning problem is a form of geometrical problem which can be solved by geometrical description of mobile robot and its workspace, starting and target configuration of mobile robot and evaluation of degrees of freedom (DOF) of mobile robot [19]. Trajectory planning in general requires a path planner to compute geometric collision free path.…”

“…Trajectory planning in general requires a path planner to compute geometric collision free path. This free path is to be converted into a time based trajectory [19]. The Kinematics model of the used mobile robot is presented as shown in the following section.…”

“…We construct a closed workspace (indoor area) with different numbers of static obstacles. This area is described by a 2D static map (20 × 20); the starting point is S=(1, 1), and the target point is T= (19,19) for a path. The positions of the obstacles are randomly chosen; in other words, the obstacles can be placed at any grid point in the map.…”

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

“…They identified CSPs, potential switching points, to create limit curve. Using the phase plane techniques, Shiller [12], Yamamoto [13] and Brezak [14] researched time-optimal motion planning of mobile robots along a specified path. However, they did not consider limit curve and motor control input constraint.…”

A Novel Edge Detection Algorithm for Mobile Robot Path Planning

“…The second step is dealing with complex environment by converting the optimal path to trajectory. Moreover, the path planner is required in trajectory to compute a collision free path that is later converted into a time-based trajectory [31]. However, the first step converts the images from previous sections into 2D maps, then describes this environment model, and constructs a closed workspace with different numbers of static obstacles.…”