Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints

Abstract

This paper is concerned with the problem of finding an optimal velocity profile along the predefined path in order to traverse the path in shortest time. A dynamic model of the mobile robot that accounts for robot actuator constraints is derived. It is shown how to use this dynamic model to express acceleration limits and velocity limit curve required by the optimal time-scaling algorithm. The developed trajectory planning algorithm is demonstrated on the Pioneer 3DX mobile robot. A method is very flexible and can be extended to account for other constraints, such as limited grip between the robot wheels and the ground.