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

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2023
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FE - Fakulteta za elektrotehniko
UDK:	007.52
COBISS:	141635075
ISSN:	1424-8220
Št. ogledov:	33
Št. prenosov:	10
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	kolesni mobilni roboti;generiranje trajektorij;hitrostni profil;optimizacija trajektorij;Bézierove krivulje;
Vrsta dela (COBISS):	Članek v reviji
Strani:	16 str.
Letnik:	ǂVol. ǂ23
Zvezek:	ǂiss. ǂ4, [article no.] 1982
Čas izdaje:	Feb.-2 2023
DOI:	10.3390/s23041982
ID:	23715872