Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms.
Motoji Yamamoto, Makoto Iwamura, Akira MOHRI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1998
This paper addresses a problem of time-optimal trajectory planning for skid-steer platforms considering obstacle avoidance. Considering both time-optimality and obstacle avoidance for mobile robot is not easy, because the two problems are coupled in the trajectory planning problem. Using an idea of path parameter, the trajectory planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) optimal path planning considering obstacle avoidance. Then an efficient search method is proposed for each problem, using the idea of path parameter and B-Spline approximation method. The idea of path parameter simplifies the optimization problem for specified path planning problem of mobile robot. Simulation results show the effectiveness of the proposed trajectory planning method.