Near-Time-Optimal Trajectory Planning for Mobile Robots With Two Independently Driven Wheels Considering Dynamical Constraints and Obstacles

Abstract

This paper proposes a planning method for time-optimal trajectories of mobile robots. A dynamical model for two independently driven wheels type mobile robots is derived. Using an idea of path parameter, optimal trajectory for specified path of mobile robot is easily obtained considering dynamical constraints such as driving torques and velocities. An efficient collision-free near-time-optimal trajectory planning method is proposed using a local optimization method and a global search method of initial paths. The B-spline parameter optimization method is used as a local optimization. Some numerical examples show an effectiveness of the proposed planning method.