A Mobile Robots Trajectory Planning Approach under Motion Restrictions

Article type: Research Article

Authors: Muñoz, V.F.^{; *} | García-Cerezo, A. | Cruz, A.

Affiliations: Departamento de Ingeniería de Sistemas y Automática, Universidad de Málaga, Plaza el Ejido s/n 29013 Málaga, Spain, Tel.: +34 952 13 14 06; Fax: +34 952 13 14 13; E-mail: [email protected]

Correspondence: [*] Correspondence to: Dr. V.F. Muñoz.

Abstract: This work presents a new procedure for planning mobile robot trajectories by considering kinematic and dynamic constraints on the vehicle motion. This approach divides the above problem into two stages: first, a spatial planning of a collision-free path, which proves the non-holonomic motion constraint; and secondly, a temporal planning of a speed profile which keeps the speed limitations due to the vehicle's kinematic and dynamic behaviour. The resulting trajectories provide good conditions for path tracking since take into account the vehicle's motion constraints. Moreover, the original trajectory planning process has been extended for multi-robot systems in order to avoid collisions between two or more vehicles by means of a suitable speed planning. Finally, this paper also shows the application of the proposed methods to RAM-2, a mobile robot designed and built for indoor industrial environment.

DOI: 10.3233/ICA-1999-6406

Journal: Integrated Computer-Aided Engineering, vol. 6, no. 4, pp. 331-348, 1999