Trajectory Planning for the Wheeled Mobile Robot Considering Diamond-shaped Velocity Constraints
Hongru Wang · 2022
The trajectory planning of a two-wheeled differential mobile robot with diamond-shaped velocity constraints is studied in this paper. First, the kinematic model and the diamond-shaped velocity constraints of the mobile robot is given. Then, the artificial potential field (APF) functions are established for the target point and obstacles in the environment map. By solving a series of constrained optimization problems, the global trajectory planning can be achieved. Finally, we use the cubic spline method and the model predictive control (MPC) algorithm to further optimize the planned trajectory to make it smoother and ensure that the diamond-shaped speed constraints are met. Simulation results present the effectiveness of the proposed algorithm.