scholarly journals Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110166
Author(s):  
Yuxi Sun ◽  
Chengrui Zhang ◽  
Chang Liu
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Sustainable Growth ◽  
Random Tree ◽  
Rapid Expansion ◽  
Feasible Region ◽  
Fast Marching ◽  
B Spline ◽  
Cluttered Environment ◽  
Experimental Comparisons

Generating a collision-free and dynamically feasible trajectory with a better clearance in a cluttered environment is still a challenge. We propose two dynamically feasible B-spline based rapidly exploring random tree (RRT) approaches, which are named DB-RRT and FMDB-RRT, to achieve path planning and trajectory planning simultaneously for omnidirectional mobile robots. DB-RRT combines the convex hull property of the B-spline and RRT’s rapid expansion capability to generate a safe and dynamically feasible trajectory. Firstly, we analyze the tree’s sustainable growth ability and put forward the dynamically feasible region. A geometric method is proposed to judge whether finding a dynamically feasible trajectory quickly. Secondly, we design two steer functions to guide the tree’s growth, improve efficiency, and decrease the number of iterations. To further increase the clearance and reduce the randomness of the trajectory, we propose FMDB-RRT, which uses the path of fast marching to guide the rapid growth of DB-RRT. Then, assuming that the number of sampled points is sufficient to represent the dynamically feasible region, the DB-RRT is proved to be probabilistically complete. Finally, by conducting experimental comparisons with other algorithms in different environments and deploying the proposed algorithm to an omnidirectional mobile robot, the effectiveness and good performance of the algorithm have been verified.

scholarly journals Trajectory planning method of mobile piezorobot

2009 ◽  
Vol 50 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteinienė ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Mobile Robots ◽  
Trajectory Planning ◽  
Simultaneous Equations ◽  
Planning Method ◽  
Experimental Results

This paper presents analysis of trajectory planningmethods for mobile robots and new trajectory planning method research for mobile piezorobots. Here are deduced motional simultaneous equations for this kind of robots that describe point-to-pointmotion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model.

scholarly journals Trajectory Planning of Manipulator Using Optimization of Uniform B-Spline

1994 ◽  
Vol 6 (6) ◽  
pp. 491-498 ◽  
Author(s):  
Hiroaki Ozaki ◽  
◽  
Hua Chiu ◽  
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Control Points ◽  
State Variables ◽  
B Spline ◽  
Iterative Computation ◽  
Basic Optimization ◽  
Engineering Problems ◽  
Original Objective ◽  
Optimum Solution

A basic optimization algorithm is presented in this paper, in order to obtain the optimum solution of a two-point boundary value variational problem without constraints. The solution is given by a parallel and iterative computation and described as a set of control points of a uniform B-spline. This algorithm can also be applied to solving problems with some constraints, if we introduce an additional component, namely the potential function, corresponding to constraints in the original objective function. The algorithm is very simple and easily applicable to various engineering problems. As an application, trajectory planning of a manipulator with redundant degrees of freedom is considered under the conditions that the end effector path, the smoothness of movement, and the constraints of the control or the state variables are specified. The validity of the algorithm is well confirmed by numerical examples.

Representation of interactions between mobile robots for trajectory planning

1999 ◽  
Vol 7 (6) ◽  
pp. 753-761 ◽  
Author(s):  
Christian Zanardi ◽  
Jean-Yves Herve ◽  
Paul Cohen
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning

scholarly journals Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875457 ◽  
Author(s):  
Héctor M Becerra ◽  
J Armando Colunga ◽  
Jose Guadalupe Romero
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Orientation Angle ◽  
Robust Tracking ◽  
Robust Controllers ◽  
Wheeled Mobile Robots ◽  
Control Approach ◽  
Position And Orientation ◽  
Robot Position

This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

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