Smooth Trajectory Planning Along Bezier Curve for Mobile Robots with Velocity Constraints

This paper presents a smooth path planning method considering physical limits for twowheeled mobile robots (TMRs). A Bezier curve is utilized to make an S-curve path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The trajectory gained through convolution does not consider the direction angle of the TMR, so a transformational method for a center velocity trajectory following the planned path as a function of time of parameter for the Bezier curve is presented. Finally, the joint space velocity is computed to drive the TMR from the center velocity. The effectiveness of the proposed method was performed through numerical simulations. This algorithm can be used for path planning to optimize travel time and energy consumption.