Minimum-time trajectory generation for wheeled mobile systems using Bézier curves with constraints on velocity, acceleration and jerk

Martina Benko Loknar (Author), Gregor Klančar (Author), Sašo Blažič (Author)

Abstract

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.

Keywords

kolesni mobilni roboti;generiranje trajektorij;hitrostni profil;optimizacija trajektorij;Bézierove krivulje;wheeled mobile robots;trajectory generation;velocity profile;trajectory optimization;Bézier curves;

Data

Language:	English
Year of publishing:	2023
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	007.52
COBISS:	141635075
ISSN:	1424-8220
Views:	33
Downloads:	10
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	kolesni mobilni roboti;generiranje trajektorij;hitrostni profil;optimizacija trajektorij;Bézierove krivulje;
Type (COBISS):	Article
Pages:	16 str.
Volume:	ǂVol. ǂ23
Issue:	ǂiss. ǂ4, [article no.] 1982
Chronology:	Feb.-2 2023
DOI:	10.3390/s23041982
ID:	23715872