Trajectory planning for omni-directional mobile robot based on Bezier curve, trigonometric function and polynomial

Abstract

This paper proposes a systematic trajectory planning algorithm for omni-directional mobile robot, which consists of three parts: path planning, line velocity planning and posture planning. Third-order Bezier curve is applied to the path planning algorithm and proved to be feasible by analysis of radius of curvature. Further more, the method that constructing a complex path by splicing multi-segment Bezier curves turns out to be effective. Then trigonometric function is utilized in the line velocity planning algorithm. The results demonstrate effectiveness and rationality of the algorithm. Lastly, based on trigonometric function and polynomial, a posture planning algorithm for omni-directional mobile robot is designed to plan the posture, angular velocity and angular acceleration. Results show that it can guarantee the continuity of the angular acceleration with excellent effect. On the basis of the case study on a complex path, it is concluded that the trajectory planning algorithm has good adaptability. © Springer-Verlag Berlin Heidelberg 2012.