Convolution-based Time Optimal Path Planning for a High Curvature Bezier Curve Considering Possible Physical Limits

摘要

This paper proposes a time optimal path planning while considering the physical constraints of wheeled mobile robots along a high curvature Bezier curve. The proposed algorithm overcomes drawbacks of preceding results. A trajectory produced through acceleration limits showed long traveling time, non-uniform sampling time and unsatisfied terminal velocity. A convolution-based method to consider physical limits was able to meet the velocity requirements, but it demonstrated inability to follow a high curvature path. Therefore, a method based on convolution operator is presented to generate periodic velocity commands and achieve time optimality while satisfying physical limits for a high curvature path.