Algorithm of Path Planning for Wheeled Mobile Robot Base on Time Optimization
Shaozhi Wang, Liu Jian, Junlin Wang · International Conference on Electric Information and Control Engineering · 2012
Time optimal path is needed in time sensitive occasions such as robot competition. In this paper, kinematics model of wheeled mobile robot is established first, and the path mode which suitable for wheeled mobile robot is analyzed. Then use the experience of tangent method, a new algorithm for time optimization is presented by adding virtual circles in the beginning and the end of the path, thereby the position and orientation of the robot are integrated in one path. The simulation result shows that the method could generate global optimal path. Besides, it has high search efficiency and good adaptability.