Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bezier Curves with Constraints on Velocity, Acceleration and Jerk

This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bezier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bezier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios.

Automated summary

This paper addresses the problem of minimum-time smooth trajectory planning for wheeled mobile robots. A novel solution for constructing a 5th order Bezier curve is proposed, which allows for simple and intuitive parameterization. The trajectory optimization takes into account environmental constraints and constraints on velocity, acceleration, and jerk. The effectiveness of the proposed algorithm is demonstrated through simulations in a racetrack and warehouse environment, showing its applicability in constrained environments and real-world driving scenarios.