Optimization of Robot Trajectory with Motion Constraints

This paper deals with time-optimization of trajectories of wheeled robots within the speed and other constraints. The cubic Hermite spline curve with method of speed profile computation is used to determine the trajectory. This method is extended to allow the optimization with the constraints described. It ensures fulfillment of required initial parameters of motion. There is analyzed both situation without obstacle and with single stationary obstacle. Neural network is then introduced to accelerate the calculation of numerically computed optimal results.