| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 413365 | Robotics and Autonomous Systems | 2015 | 9 Pages |
•An efficient time-optimal trajectory planning algorithm is proposed which improves total time significantly.•We consider differential-driven wheeled mobile robots’ dynamics with motor dynamics considering motor control input constraints.•The environment is a cranked road with two corners in which obstacle avoidance is considered implicitly.•We provide a unified solution of path planning and trajectory generation.•Time-optimal solution is suggested which gives significant time savings using the bang–bang principle.
We propose an efficient time-optimal trajectory planning algorithm for differential-driven wheeled mobile robots with bounded motor control inputs in the environment with cranked road where two corners with arbitrary angles exist. Based on dynamics for differential-driven wheeled mobile robots including actuating motors as well as on the bang–bang principle for time-optimality, we plan the time-optimal free path trajectory which unifies path planning and trajectory generation. Thus it improves total time significantly while handling obstacle avoidance. We divide our trajectory into three sections and then divide each section into an appropriate number of subsections to make five subsections in total. We introduce the concept of transition angle to solve the problem with formulating search loops efficiently. Numerical results are provided to validate the effectiveness of the proposed algorithm.
