Abstract
This paper proposes a joint-space trajectory generation method for practical navigation with a high curvature path of mobile robots. A technique to generate central velocity commands using a convolution operator that considers only the physical limits of a mobile robot was discussed. In practical application, controlling the heading angles along a curved path is required and the existence of obstacles is inevitable. First, we suggested an algorithm that generates a trajectory to consider the heading angles along a smooth Bezier curve by redefinition of the curve parameter. However, the presence of an obstacle along the planned path requires redirection to a new path where geometrical limitations such as high curvature turning points exist, resulting in tracking error. We propose a method that manages a variation of linear interpolation to generate a feasible trajectory while conserving the high curvature path and the merits of convolution. Joint-space trajectories are produced by scaling down the generated central velocity through reduction of the given maximum velocity limit. We show through a simulation example that the proposed method is able to generate a trajectory that can accurately track a planned path on a designed platform based on actual parameters. Finally, an experiment is successfully conducted on a two-wheeled mobile robot, Tetra DS-III, in a real-time control system. The experiment results display distinct advantages in the criteria of time optimality and periodicity of control tasks, while conserving all possible limitations that could occur during navigation compared with previous studies.
Highlights
Ceaseless studies and the development of mobile robot systems have made it easier for users to manipulate robots in order to show precise motion control through the generation of uncomplicated velocity commands
Bd where u(t) is defined as 0 ≤ u(t) ≤ 1, which serves as the reformulated parameter of the Bezier curve trajectory, depending on the central velocity generated through a convolution operator
This method is an improvement on our previous research, which generates a central velocity to produce a trajectory that preserves the merits of the convolution operator to satisfy the physical limitations of the mobile robot while considering the geometrical constraints present along the high curvature-planned path
Summary
Ceaseless studies and the development of mobile robot systems have made it easier for users to manipulate robots in order to show precise motion control through the generation of uncomplicated velocity commands. Common obstacle avoid‐ ance techniques [17,18,19,20,21,22] involve redirection of the mobile robot to a new path where geometric constraints, such as high curvature turning points, occur These constraints greatly affect robot control, producing issues of accuracy, such as the inability to track the planned path, non-uniform time sampling, or undesirable terminal velocities [14].
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