Real-time trajectory generation for omni-directional vehicles by constrained dynamic inversion

摘要

This paper presents a computationally efficient algorithm for real-time trajectory generation for omnidirectional vehicles. The algorithm uses a dynamic inversion based approach that incorporates vehicle dynamics, actuator saturation and bounded acceleration. The algorithm is compared with other trajectory generation algorithms for omni-directional vehicles. The method yields good quality trajectories and is implementable in real-time. Numerical and hardware tests are presented. (C) 2016 Elsevier Ltd. All rights reserved.