Trajectory Planning for Mobile Robots with Considering Velocity Constraints on Xenomai

Abstract

This paper presents an implementation of trajectory planning method while considering velocity constraints for a two-wheeled mobile robot (TMR) on Xenomai. A Bezier curve is utilized to make an S-curved path. A convolution operator is used to generate a velocity profile of the travel distance of the planned path while considering the velocity constraints of the TMR. The trajectory planning and multi-tasks are performed on Xenomai, which is a real- time embedded Linux system developed by open-source projects. Finally, the periodicity of real-time task and trajectory tracking performance was analyzed.