20.500.12556/RUL-156321 Minimum-time trajectory generation for wheeled mobile systems using Bézier curves with constraints on velocity, acceleration and jerk 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. wheeled mobile robots trajectory generation velocity profile trajectory optimization Bézier curves kolesni mobilni roboti generiranje trajektorij hitrostni profil optimizacija trajektorij Bézierove krivulje true false true Angleški jezik Slovenski jezik Članek v reviji 2024-05-20 10:02:00 2024-05-20 10:02:04 2024-05-21 03:46:45 0000-00-00 00:00:00 2023 0 0 16 str. iss. 4, [article no.] 1982 Vol. 23 Feb.-2 2023 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 1424-8220 10.3390/s23041982 141635075 sensors-23-01982_(2).pdf sensors-23-01982_(2).pdf 1 E1CB61F2DB166B2CBB17B4639AA6B5F7 dd33dcde8b6f70b9e382681549ac61ee17d5f735fa7d9acb23cf6cd2e8517c55 984657be-167f-11ef-b600-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=183717 https://www.mdpi.com/1424-8220/23/4/1982 0 3f4f40e9-167f-11ef-b600-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=183716 Fakulteta za elektrotehniko 0 0 0