Decision making of time optimal velocity for wheeled mobile agents under acceleration constrains
Xiaofang Zhong, Shiyuan Han · 2017
This paper studies the velocity decision making problem for nonholonomic wheeled mobile agents under acceleration constrains. Given the attitudes and velocities information of nonholonomic wheeled mobile agent at start point (SP) and end point (EP), the date of motion trajectory is generated based on the cubic Bezier curve. Then, the decision of time optimal maximum allowable velocity trajectory is designed without violating the acceleration constrains, which is devised as the minimum value between the velocity trajectories in forward and reverse directions. Meanwhile, a novel decision is obtained to solve the problem that the velocities of nonholonomic wheeled mobile agents is lower than the planning targets at SP and EP. Finally, simulation results show the effectiveness and rapidity of the proposed algorithms.