Real-time smooth trajectory generation for nonholonomic mobile robots using Bézier curves
This paper focuses on generating smooth trajectories for a wheeled nonholonomic mobile robot using piecewise Bézier curves with properties ideally suited for this purpose. The developed algorithm generates smooth motion trajectories with C2 continuous curvature. We consider a teleoperated wheeled mo...
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| Published in | Robotics and computer-integrated manufacturing Vol. 41; pp. 31 - 42 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.10.2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0736-5845 1879-2537 |
| DOI | 10.1016/j.rcim.2016.02.002 |
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| Abstract | This paper focuses on generating smooth trajectories for a wheeled nonholonomic mobile robot using piecewise Bézier curves with properties ideally suited for this purpose. The developed algorithm generates smooth motion trajectories with C2 continuous curvature. We consider a teleoperated wheeled mobile robot in an indoor environment with ceiling cameras for operator visibility. The motion trajectory is constrained by the operator-specified via points and path width. A method to automatically generate a trajectory based on only these two inputs is proposed and demonstrated. To improve the trackability of the mobile robot, we adopted a Bézier subdivision method and inserted a quintic Bézier segment into high-curvature areas. The proposed algorithm can be used for real-time obstacle-avoidance trajectory generation because it allows trajectory subdivision and arbitrarily setting of the second derivative at the start point. Simulation and experimental results demonstrate the effectiveness of the proposed method.
•New algorithm to generate smooth trajectories for a wheeled mobile robot.•Trajectory generation satisfying operator-specified via points and path width.•Trackability enhancement to high-curvature trajectory by Bezier subdivision method.•Design of a trajectory tracking controller based on the Lyapunov stability theorem. |
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| AbstractList | This paper focuses on generating smooth trajectories for a wheeled nonholonomic mobile robot using piecewise Bezier curves with properties ideally suited for this purpose. The developed algorithm generates smooth motion trajectories with C super(2) continuous curvature. We consider a teleoperated wheeled mobile robot in an indoor environment with ceiling cameras for operator visibility. The motion trajectory is constrained by the operator-specified via points and path width. A method to automatically generate a trajectory based on only these two inputs is proposed and demonstrated. To improve the trackability of the mobile robot, we adopted a Bezier subdivision method and inserted a quintic Bezier segment into high-curvature areas. The proposed algorithm can be used for real-time obstacle-avoidance trajectory generation because it allows trajectory subdivision and arbitrarily setting of the second derivative at the start point. Simulation and experimental results demonstrate the effectiveness of the proposed method. This paper focuses on generating smooth trajectories for a wheeled nonholonomic mobile robot using piecewise Bézier curves with properties ideally suited for this purpose. The developed algorithm generates smooth motion trajectories with C2 continuous curvature. We consider a teleoperated wheeled mobile robot in an indoor environment with ceiling cameras for operator visibility. The motion trajectory is constrained by the operator-specified via points and path width. A method to automatically generate a trajectory based on only these two inputs is proposed and demonstrated. To improve the trackability of the mobile robot, we adopted a Bézier subdivision method and inserted a quintic Bézier segment into high-curvature areas. The proposed algorithm can be used for real-time obstacle-avoidance trajectory generation because it allows trajectory subdivision and arbitrarily setting of the second derivative at the start point. Simulation and experimental results demonstrate the effectiveness of the proposed method. •New algorithm to generate smooth trajectories for a wheeled mobile robot.•Trajectory generation satisfying operator-specified via points and path width.•Trackability enhancement to high-curvature trajectory by Bezier subdivision method.•Design of a trajectory tracking controller based on the Lyapunov stability theorem. |
| Author | Renny Simba, Kenneth Sano, Shigenori Uchiyama, Naoki |
| Author_xml | – sequence: 1 givenname: Kenneth orcidid: 0000-0003-1576-7311 surname: Renny Simba fullname: Renny Simba, Kenneth email: s125120@edu.tut.ac.jp, rennyk@taec.or.tz organization: Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi 441-8580, Japan – sequence: 2 givenname: Naoki surname: Uchiyama fullname: Uchiyama, Naoki email: uchiyama@tut.jp organization: Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi 441-8580, Japan – sequence: 3 givenname: Shigenori surname: Sano fullname: Sano, Shigenori email: sano@me.tut.ac.jp organization: Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi 441-8580, Japan |
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| SubjectTerms | Algorithms Bezier Bézier curves Ceilings Continuous curvature Curves (geometry) Mobile robot Motion planning Motion trajectory Real time Robots Subdivision algorithm Subdivisions Trajectories |
| Title | Real-time smooth trajectory generation for nonholonomic mobile robots using Bézier curves |
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