Time Optimal Trajectory Generation with Obstacle Avoidance by Using Optimal Control Theory for a Wheeled Mobile Robot

摘要

The design of the mobile robot path is important when obstacles are present in the environment. In the present study, the theory of optimal control for path design and obstacle avoidance via simultaneous minimization of the time and kinetic energy is proposed. Nonlinear equations of robot motion without simplification are considered in optimum control problems, and in order to prevent collisions, the potential functions are utilized. In the next phase, the cost function is proposed that includes velocity inputs, time, and the potential function for obstacle avoidance, in which the nonlinear equation of the motion of the mobile robot is deemed as a constraint. The final equations are numerically solved, and the capability and effectiveness of the presented method will be presented via different simulations on the mobile robot.