Optimal Trajectory Planning with Dynamic Obstacles Avoidance for Mobile Robots Navigation

摘要

This paper develops an optimal trajectory planning strategy for an omnidirectional mobile robot with dynamic obstacles avoidance. The proposed method uses the information of the obstacle's movement to design a collision-free trajectory. This collision-free trajectory generation approach uses an optimal path planning that minimizes the energy cost needed to move the robot from an initial point to a final position. The optimal trajectory planning considers the robot's model as a dynamic constraints in the optimization problem. Beyond it, constraints such as the physical saturation on torque and speed of the actuators are included as inequality constraints. The obstacles avoidance are included into the optimization problem to restrict the feasible path that the robot can take to achieve the target position. Additionally, a nonlinear feedback control strategy is used to guarantee the tracking trajectory. The trajectory generation technique and the control system are evaluated in a numerical simulation in a model of a Festo Robotino® platform. The numerical evaluation shown an effective trajectory planning with results into the feasible solutions.