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

Area of Science:

• Robotics
• Control Systems
• Computational Geometry

Background:

• Smooth trajectory planning is crucial for efficient and safe operation of wheeled mobile robots.
• Existing methods often struggle with complex constraints and real-time computation.

Purpose of the Study:

• To develop a novel algorithm for minimum-time smooth trajectory planning for wheeled mobile robots.
• To enable intuitive parameterization and efficient computation of robot trajectories.

Main Methods:

• Utilized 5th order Bézier curves for path definition.
• Developed a trajectory optimization method considering environmental and motion constraints (velocity, acceleration, jerk).
• Ensured continuous velocity and acceleration profiles across path segments.

Main Results:

• Successfully generated minimum-time smooth trajectories for mobile robots.
• Demonstrated the algorithm's effectiveness in simulation within a racetrack and a warehouse environment.
• Validated the approach for constrained environments and real-world driving scenarios.

Conclusions:

• The proposed Bézier curve-based trajectory planning offers a simple and intuitive solution.
• The algorithm effectively handles environmental and motion constraints for mobile robot navigation.
• This method is suitable for practical applications in complex, real-world scenarios.