Obstacle Avoiding Real-Time Trajectory Generation of Omnidirectional Vehicles
نویسندگان
چکیده
In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves, which meets obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in short travel time while satisfying dynamic constraint. Accelerations of the robot are computed such that they satisfy the time optimal condition for each sample time. The numerical simulation demonstrates the improvement of trajectory generation in terms of travel time, satisfaction of dynamic constraint and smooth motion control compared to a previous research.
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