Minimum-Time Trajectory Planning for a Differential Drive Mobile Robot Considering Non-slipping Constraints

Journal of control, automation and electrical systems

article

Okuyama, I. F.¹  Maximo, Marcos R. O. A.¹  Afonso, Rubens J. M.² 

[1] Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology;Department of Aerospace and Geodesy, Institute of Flight System Dynamics, Technical University of Munich;Electronic Engineering Division, Aeronautics Institute of Technology

关键词: Trajectory planning;    Optimization;    Differential-drive mobile robot;    Robotics;   

DOI  :  10.1007/s40313-020-00657-x

学科分类：自动化工程

来源: Springer

【 摘 要 】

We propose a real-time minimum-time trajectory planning strategy with obstacle avoidance for a differential-drive mobile robot in the context of robot soccer. The method considers constraints important to maximize the system’s performance, such as the actuator limits and non-slipping conditions. We also present a novel friction model that regards the imbalance of normal forces on the wheels due to the acceleration of the robot. Theoretical guarantees on how to obtain a minimum-time velocity profile on a predetermined parametrized curve considering the modeled constraints are also presented. Then, we introduce a nonlinear, non-convex, local optimization using a version of the Resilient Propagation algorithm that minimizes the time of the curve while avoiding obstacles and respecting system constraints. Finally, employing a new proposed benchmark, we verified that the presented strategy allows the robot to traverse a cluttered field (with dimensions of 1.5 m $$\times $$ × 1.3 m) in 2.8 s in 95% of the cases, while the optimization success rate was 85%. We also demonstrated the possibility of running the optimization in real-time, since it takes less than 13.8 ms in 95% of the cases.

【 授权许可】

CC BY