Trajectory Generation of a Mobile Robot using Mixed Integer Programming with Velocity as a Constraint
Koki Kobayashi, Takao Satô, Nozomu Araki, Yasuo Konishi · IEEJ Transactions on Electronics Information and Systems · 2020
This study proposes a new design method for the mobile robot trajectory generation considering obstacle avoidance using mixed integer linear programming (MILP). In the proposed method, the velocity of a mobile robot as well as the position of the mobile robot are used in the initial condition of MILP. Numerical examples show that the mobile robot collides with obstacles using a conventional method, in which the velocity is not taken into account, and on the other hand, the problem is resolved using the proposed method.