Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments

Tohfeh, Fatemeh; Fakharian, Ahmad

Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments

Authors

F. Tohfeh ¹

A. Fakharian ²

¹ M.Sc. of Control Engineering, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran,

² Assistant Professor, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran, Corresponding Author

Abstract

This paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for Omni-directional robots. The aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. First, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms trajectory planning to an optimization problem. Then we use a novel method to solving the optimization problem and obtaining the unknown parameters. Finally, the efficiency of proposed approach is confirmed by simulation.

Keywords

obstacle avoidance

Omni-directional robot

optimization problem

polynomial trajectory

Trajectory Planning