Motion planning of autonomous mobile robots by iterative dynamic programming

摘要

We propose a new offline motion planning method for autonomous mobile robots. To minimize traveling time, a smooth path and a time-optimal velocity profile should be generated under kinematic and dynamic constraints. In this study, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from a Voronoi diagram and spline function, and is improved by iteratively changing via-points. We apply a dynamic programming algorithm to change the via-points, and a Hermite interpolation to generate a smooth trajectory. Simulation results are presented to verify the performance of the proposed method.