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

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

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.

• Language: English
• Keywords: wheeled mobile robots, trajectory generation, velocity profile, trajectory optimization, Bézier curves
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2023
• Number of pages: 16 str.
• Numbering: Vol. 23, iss. 4, [article no.] 1982
• PID: 20.500.12556/RUL-156321
• UDC: 007.52
• ISSN on article: 1424-8220
• DOI: 10.3390/s23041982
• COBISS.SI-ID: 141635075
• Publication date in RUL: 20.05.2024

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Keywords: kolesni mobilni roboti, generiranje trajektorij, hitrostni profil, optimizacija trajektorij, Bézierove krivulje

Projects

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: P2-0219
• Name: Modeliranje, simulacija in vodenje procesov

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: L2-3168
• Name: Razvoj samo-učečega sistema za optimizacijo pravil vožnje avtonomnih transportnih vozil in njihovih časovno-prostorsko usklajenih aktivnosti