Time-optimal cornering trajectory planning for differential-driven wheeled mobile robots with motor current and voltage constraints

摘要

We derive time-optimal cornering trajectory planning algorithm for differential-driven wheeled mobile robots(DWMRs) satisfying both battery voltage and armature current constraints. We use mobile robot's dynamics, which includes motor dynamics. We divide our collision-free cornering trajectory planning algorithm into three sections, in each of which two subsections are contained. We obtain a time-optimal trajectory by applying bangbang principles in all subsections which have not ahieved in previous works. Either current bounded or voltage bounded control input is utilized in each subsection to produce time-optimal trajectory with continuous velocity. Simulation results are provided to validate the effectiveness of the proposed algorithm and compared with extreme control algorithm(ECA) in [4].