Probabilistic roadmaps-spline based trajectory planning for wheeled mobile robot

摘要

This paper proposes a trajectory planning of a mobile robot using Probabilistic Roadmaps [PRM] with spline technique. In the proposed method, the PRM method is combined with the spline technique to generate smooth trajectories, which are important for curved path navigation of a wheeled mobile robot. The PRM technique is expanded to a cubic Ferguson's curve, a spline based method. Trajectories that are been generated using the proposed PRM-Spline combination satisfies direction constraints approach on both source and target positions. This makes the proposed algorithm remarkably unlike from other trajectory planning algorithms. As a result, the paths produced by the mobile robots are sub-optimal, dynamically and geometrically feasible, and satisfy direction constraints approaches. Simulation results that are performed affirm these PRM-Spline technique properties and manifest the proposed algorithm validity, implying that it can be efficiently used in trajectory planning of wheeled mobile robot operating in real-time environments.