An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints
Mišel Brezak, Ivan K. Petrovic, Andrej Kitanov · International Power Electronics and Motion Control Conference · 2004
In this paper a real-time motion planner for mobile robots with differential drives is proposed. Its main advantages are smooth robot trajectory and relatively low computational complexity. The proposed algorithm produces near time optimal robot motion. It is particularly suitable in cases when desired robot configuration is defined not only with robot pose, but also with its velocity in the desired pose. This is the case, for example, in robot soccer, where robot must kick the ball with desired orientation and velocity.