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Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe...

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Detalles Bibliográficos
Autores principales: Benko Loknar, Martina, Klančar, Gregor, Blažič, Sašo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9959204/
https://www.ncbi.nlm.nih.gov/pubmed/36850590
http://dx.doi.org/10.3390/s23041982
Descripción
Sumario:This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bézier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios.