A Random Profile Approach to Minimum-Time Motion Planning Problem for Non-Holonomic Wheeled Mobile Robots : Application for the Parking and Articulated systems

摘要

We present in this paper a stochastic method of trajectory planning developed for Non-Holonomic mobile robots in the presence of static obstacles in the workspace. It's based on a simultaneous search for the robot path and for the time evolution on this path, it makes use of spline function to model the components of the geometric path followed by the robot as well as the motion on this path. The minimum-time trajectory is determined via a hill-climbing technique with variable interval size. The entire problem is formulated in such a manner considering kinodynamic constraints. Results are presented for parking problem for various parking configurations (parallel, diagonal and row parking) and for an articulated mobile robot.