2A2-F03 Real-Time Navigation of Mobile Robot with Time Optimized Trajectory and Its Localization

Abstract

This paper discusses the followings: First, based on an obtained collision-free path by Path Shortcut Method, the velocity continuous time optimal trajectory with specified acceleration constraints is successively obtained by using the proposed time scaling technique. Second, a SLAM method by sequential scan matching of laser range sensor data is proposed on Hough transformation. Third, continuous real-time navigation is realized on parallel processing of both trajectory generation and wheels control by multi-threads programming. Finally, the above proposed methods are effectively confirmed by the navigation of a real mobile robot.