Adjustable trajectory Planning of Robot under continuous acceleration constraint
Wenping Wang, Yong Wei · 2022
Aiming at the problem that the solution obtained by the existing trajectory planning algorithm is not the optimal solution in the global space and the offline trajectory is formed, an adjustable trajectory planning algorithm under the continuous constraint of acceleration is proposed. The idea of binary search and numerical integration is used to achieve continuous path acceleration, while retaining the completeness of the planning algorithm; on this basis, an efficient trajectory adjustment mechanism is established, and the upper boundary of the feasible region can be changed by adjusting the functional parameters in the mechanism, to output different trajectories. With the help of the omnidirectional mobile robot based on the active eccentric wheel, the comparison results fully verify the effectiveness and superiority of the proposed the trajectory planning algorithm.