Time-optimal smooth-path motion planning for a mobile robot with kinematic constraints

  • Authors:

  • K. Jiang;L. D. Seneviratne;S. W. E. Earles

  • Affiliations:

  • Department of Mechanical Engineering, King's College London, Strand, London WC2R 2LS UK;Department of Mechanical Engineering, King's College London, Strand, London WC2R 2LS UK;Department of Mechanical Engineering, King's College London, Strand, London WC2R 2LS UK

  • Venue:
  • Robotica
  • Year:
  • 1997

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Abstract

This paper presents a novel time-optimal motion planning strategy for a mobile robot with kinematic constraints. The method works in environments in presence of obstacles, without needing to generate the configuration space for the robot. Further, it derives a minimum time first derivative smooth path, as opposed to a minimum distance path which is commonly given by various present solution techniques. The problem is solved in three stages: (i) A reduced visibility graph for a point object is obtained. (ii) The reduced visibility graph is converted into a feasible reduced visibility graph accounting for the size and kinematic constraints of the robot. (iii) The A* algorithm is used to search the feasible reduced visibility graph with the cost function being the time of travel, to obtain a safe, time-optimal, smooth path. The algorithm runs in polynomial time. The method has been tested in computer simulations and test results are presented