Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves

Abstract

Navigation is a fundamental technology for mobile robots. However, many trajectory planning methods suffer from curvature discontinuities, leading to instability during robot operation. To address this challenge, this paper proposes a navigation scheme that adheres to the kinematic constraints of a two-wheeled differential-drive robot. An improved and efficient RRT algorithm is employed for global navigation, while an adaptive clothoid curve is utilized for local trajectory smoothing. Simulation results demonstrate that the proposed method effectively eliminates curvature discontinuities and enhances operational efficiency.