Real-Time Trajectory Generation for Mobile Robots
Alireza Sahraei, Mohammad Taghi Manzuri, Mohammad Reza Razvan, Masoud Tajfard and Saman Khoshbakht
The 10th Congress of the Italian Association for Artificial Intelligence (AIIA 2007)
Roma, Italy, September 10-13, 2007
Abstract
This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. This method uses the Voronoi diagram to find a sketchy path that keeps away from obstacles and then smooths this path with a novel use of Bezier curves. This method determines velocity magnitude of a robot along the curved path to meet optimality conditions and dynamic constrains using Newton method. The proposed algorithm has been implemented on real robots, and experimental results in different environments are presented.