Optimal trajectory planning for a mobile robot in presence of obstacles using multi-objective optimization techniques

摘要

This paper presents an optimal trajectory planning approach for mobile robots using the multi-objective optimization algorithm NSGA-II. The trajectory candidates are modeled using two functions: a b-spline to describe the path in an environment with obstacles and a cubic spline to set up the motion along this path. The kinematic and dynamic constraints inherent to the robot's behavior are taken into account. The adopted criteria are: minimizing the travel time and the applied actuators efforts. Obstacles constraints are handled in two ways, by penalization and by adopting an additional objective function reflecting obstacle violation proportion. In order to illustrate the efficiency of the proposed approach, a point-to-point task is studied for a unicycle wheeled mobile robot.