B-Splined Trajectory Modified Generation to Maximize Speed of the Nonholonomic AMR Robot

摘要

Abstract: Trajectory path generation is critical for the Autonomous Mobile Robot (AMR) when moving frequently in the working environment in the shop floor to transport loads from one work station to another continuously. Traditionally, the AMR moves from one point to stop at the next point or turn which is inefficient and consumes much energy. This paper proposes the new concept of AMR trajectory path planning with curvature driven by maximizing speed control of the differential drive at each curve to move smoothly. B-splined is commonly applied to CAD and CAM machining effectively for tool path trajectory. Therefore, the B-splined curvature is studied and validated by simulation together with energy consumption. The simulation is on Matlab Simulink with numerical model. It is investigated that the B-splined trajectory is efficient in animating the AMR’s actual system. The velocity can obtain both linear and angular velocity of the AMR movements on forward and backward directions as well as the acceleration. The trajectory can be selected based on the degree of closeness and used to generate speed and velocity control for the AMR system.