Trajectory planning for an indoor mobile robot using quintic Bezier curves

Abstract

This paper deals with planning a trajectory from a start pose to a goal pose for an indoor mobile robot. The problem of trajectory planning is first separated into path planning and generation of translational velocity profile to execute the path. Path planning is further composed of generating waypoints and generating joint Bezier curve path connected by the waypoints. To ensure the robot following the path smoothly without sideslip and avoiding exceeding acceleration limits, the scheme of linear velocity generation is proposed, accounting for the kinematics and dynamics of a differential-driven wheeled mobile robot(DWMR). The results of simulation and experiments verify the feasibility of the approach proposed in this paper.