A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves

Authors

Sun Lei, Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China;
Lishuang Zhang, Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China;
Zhou Lu, Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China;
Xuebo Zhang, Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China;

Abstract

Abstract: In view ofthe trajectory planning for the mobile robots, an efficient method based on Bezier curves is proposed, which produces better solution with shorter path and faster trajectory, compared with the existing methods. The problem of trajectory planning is divided into path planning and velocity planning. A Bezier curve is used to connect each two line-segments to obtain shorter paths. It is proved that the order of the used Bezier curves is at least five to ensure the curvature continuity of the whole path. Taking a differential-driven wheeled mobile as an example, to follow the planned path steadily and smoothly, velocity profile satisfying the constraints of kinematics and dynamics is generated. The simulation results verify the feasibility of the method proposed in this paper.

Recommended Citation

Lei, Sun; Zhang, Lishuang; Lu, Zhou; and Zhang, Xuebo (2019) "A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves," Journal of System Simulation: Vol. 30: Iss. 3, Article 24.
DOI: 10.16182/j.issn1004731x.joss.201803024
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss3/24

First Page

962

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201803024

Last Page

968

CLC

TP242.6

Recommended Citation

Sun Lei, Zhang Lishuang, Zhou Lu, Zhang Xuebo. A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves[J]. Journal of System Simulation, 2018, 30(3): 962-968.

DOI

10.16182/j.issn1004731x.joss.201803024