Trajectory planning of unicycle mobile robots with a trapezoidal-velocity constraint

Authors:
M. Haddad;W. Khalil;H. E. Lehtihet
Affiliations:
Laboratory of Structure Mechanics, Ecole Militaire Polytechnique, Algiers, Algeria;Institut de Recherche en Communications et Cybernétique de Nantes, UMR, Centre National de la Recherche Scientifique, Ecole Centrale de Nantes, Nantes, France;Laboratory of Structure Mechanics, Ecole Militaire Polytechnique, Algiers, Algeria
Venue:
IEEE Transactions on Robotics
Year:
2010

Citing 4
Cited 0

Direct and indirect methods for trajectory optimization

Annals of Operations Research - Special issue on nonlinear methods in economic dynamics and optimal control: Gmo¨or-series No. 2
Time-optimal smooth-path motion planning for a mobile robot with kinematic constraints

Robotica
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,

Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
From Reeds and Shepp's to continuous-curvature paths

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

We propose an efficient stochastic scheme for minimum-time trajectory planning of a nonholonomic unicycle mobile robot under constraints on path curvature, velocities, and torques. This problem, which is known to be complex, often requires important runtimes, particularly if obstacles are present and if full dynamics is considered. The proposed technique is a fast variant of the random-profile approach recently applied to wheeled-mobile robots. It incorporates a trapezoidal-velocity-profile constraint that helps reduce the number of unknown parameters and that speeds up the calculation steps. Results are presented for two- and three-wheel mobile robots in free/constrained workspaces. A comparison with reference solutions, which were obtained independently, shows that the proposed variant is able to achieve almost the same quality of calculated trajectories while reducing the runtime considerably.