Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints

Abstract

This paper deals with a computationally efficient velocity profile planning of wheeled mobile robots restricted to a planar motion. The resulting profile complies with velocity, acceleration, and jerk constraints, all expressed in tangential and radial forms. The first part of the proposed algorithm introduces turning points and complies with velocity and acceleration constraints. Around these points, local velocity profiles are calculated from which the global minimum-time velocity profile is determined. In the second step of the algorithm, the existing velocity profile is modified to also comply with jerk constraints. This procedure distinguishes between single-point and interval jerk violations. The main novelties of the proposed algorithm are a computationally efficient two-step approach and consistent full jerk treatment. We have also provided a comparison with an established state-of-the-art method and statistical analysis to demonstrate the low computational burden. The proposed algorithm has many applications in time-critical transportations.