Abstract
Abstract The present paper aims to study the time-optimal path planning problem for a wheeled mobile robot in an obstacle-free environment with given initial and final configuration and considering constraints on maximal permissible velocity, acceleration, and jerk. The path consists of analytically derived constant acceleration and constant deceleration (CACD) motion primitives, which at the junctions also ensure smooth transitions of curvature, vehicle’s acceleration, and jerk. Smooth path planning is chosen to prevent instant changes of acceleration that improves the driving comfort, the tracking performance and lowers wear of actuators. Conducted experiments confirm that the proposed motion primitives form a feasible, time-optimal path under given dynamical constraints.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
