Speed planning and generation approach based on the path-time space for mobile robots
Víctor F. Muñoz, Ana Cruz‐Martín, Alfonso J. Garcia-Cerezo · 2002
This paper presents a speed planning and generation algorithm for mobile robots that work under some kind of speed limitations. The proposed method takes the information about these speed constraints and the moving obstacles in the environment, and provides a safe speed profile which allows to build a trajectory that bypasses such obstacles. The method has been successfully tested in the RAM-2 mobile robot.