Trajectory generation of wheeled mobile robot using convolution method

摘要

This paper suggests a trajectory generation method using convolution operation for wheeled mobile robots. To be smooth (infinitely differentiable) trajectory generation for wheeled mobile robot, a curvature is utilized in this paper. It makes possible that mobile robots have arbitrary final position and heading angle. After making path to be followed, the trajectory is designed in such a way to satisfy given constraints such as maximum velocity, maximum acceleration and maximum jerk. Also, convolution method is able to guarantee the trajectory to satisfy given constraints. Since mobile robots are equipped with driving motors as control inputs, ultimately, motor's specifications are utilized for convolution trajectory generation.