Trajectory Generation of a Two-Wheeled Mobile Robot in an Uncertain Environment

摘要

This article presents a novel method to generate a trajectory for a two-wheeled mobile robot moving in an uncertain environment where only a few way-points are available to reach a nearby target state. The proposed method interpolates way-points by the combination of a straight line and a fifth-order Bézier curve along which the curvature varies continuously. In addition, a method to generate the associated timing law is proposed such that the robot travels along the curve in near minimum time under the maximum velocity and torque constraints. Since the method aims for an online application, heuristic techniques are applied to minimize the computational cost for finding the optimal solution. The time for computing a complete time-optimal trajectory for a moving robot to transit to a next way-point is only several milliseconds when tested in a personal computer. This result implies that a highly efficient motion control system for a two-wheeled mobile robot can be implemented with a low-cost hardware available today.