Trajectory Planning for Ground Service Robot
Zhiping Liu, Yawen Wang · 2019
The aim of this paper is to present a local trajectory planning method that can generate feasible and comfortable trajectory for ground service robot, meanwhile considering several stationary obstacles and the curvature limit of the path, and a curvature estimation method and its accuracy budget was proposed. The proposed algorithm was evaluated under the MATLAB using wheeled vehicle with nonholonomic dynamics, and results verified the effectiveness of the proposed algorithm.