A Mobile Robots Trajectory Planning Approach under Motion Restrictions (original) (raw)
1999, Integrated Computer-Aided Engineering
This work presents a new procedure for planning mobile robot trajectories by considering kinematic and dynamic constraints on the vehicle motion. This approach divides the above problem into two stages: rst, a spatial planning of a collisionfree path, which proves the non-holonomic motion constraint; and secondly, a temporal planning of a speed pro le which k eeps the speed limitations due to the vehicle's kinematic and dynamic behaviour. The resulting trajectories provide good conditions for path tracking since take i n to account the vehicle's motion constraints. Moreover, the original trajectory planning process has been extended for multi-robot systems in order to avoid collisions between two or more vehicles by means of a suitable speed planning. Finally, this paper also shows the application of the proposed methods to RAM-2, a mobile robot designed and built for indoor industrial environment.
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