A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves

doi:10.16182/j.issn1004731x.joss.201803024

Abstract

Abstract: In view ofthe trajectory planning for the mobile robots, an efficient method based on Bezier curves is proposed, which produces better solution with shorter path and faster trajectory, compared with the existing methods. The problem of trajectory planning is divided into path planning and velocity planning. A Bezier curve is used to connect each two line-segments to obtain shorter paths. It is proved that the order of the used Bezier curves is at least five to ensure the curvature continuity of the whole path. Taking a differential-driven wheeled mobile as an example, to follow the planned path steadily and smoothly, velocity profile satisfying the constraints of kinematics and dynamics is generated. The simulation results verify the feasibility of the method proposed in this paper.

Key words: trajectory planning, path planning, Bezier curves, velocity planning

CLC Number:

TP242.6

Sun Lei, Zhang Lishuang, Zhou Lu, Zhang Xuebo. A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves[J]. Journal of System Simulation, 2018, 30(3): 962-968.

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