Dynamic trajectory planning for mobile robot intercepting a moving target using Bezier curve

Abstract

This paper presents a dynamic trajectory planning approach for a nonholonomic mobile robot intercepting a moving target. The path is formulated using cubic Bezier curves. Location data from an overhead camera is used to compute the initial trajectory. The algorithm alters the trajectory in real time according to change in position and velocity of the target and the mobile robot without exceeding acceleration limits. The wheel velocities are then computed from the compliant center velocity generated from the velocity profile analysis of the calculated path. The approach is verified by simulation. Extensions of the algorithm to parallel applications are also discussed.