Mobile robot trajectory planning with dynamic and kinematic constraints

摘要

This paper presents methods for planning mobile robot trajectories by considering the kinematic and dynamic constraints on the vehicle motion. The resulting path is smooth and quasilinear in curvature variations. The maximum value of the curvature can be assured to be smaller than the value given by the constraints. Furthermore, speeds along the path are planned subject to the kinematic and dynamic constraints. The resulting trajectories provide ideal conditions for high precision path tracking and positioning. In the paper we present the application of the proposed methods to RAM-1, a new mobile robot designed and built for indoor and outdoor industrial environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>