Minimum-time trajectory planning based on the shortest path for the wheeled mobile robot

摘要

The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor' s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We u-tilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.