Path optimisation considering dynamic constraints

Authors:
Marko Lepetič;Gregor Klančar;Igor Škrjanc;Drago Matko;Boštjan Potočnik
Affiliations:
Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia
Venue:
RoboCup 2004
Year:
2005

Citing 4
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Abstract

Path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modification could be used for all types of nonholonomic robots. The path was planned in the way to minimize the time of reaching end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direction and initial velocity. The constraint was acceleration limit in tangential and radial direction caused by the limited grip of the tires. The path is presented as the spline curve and was optimised by placing the control points trough which the curve should take place.