Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation

Abstract

This paper deals with the problem of autonomous navigation for nonholonomic mobile robots. To avoid obstacles while executing a planned motion, we use a nonholonomic trajectory deformation method. Initially, this method did not take into account the velocity and acceleration bounds of the robot. The contribution of this paper is a significant improvement of the method to take into account these kinematic bounds. The idea consists in applying zero input perturbation on intervals on which the kinematic bounds are not satisfied and to reparameterize the trajectory in order to remove bound overflows. Experimental results illustrate and validate the improvement.