Fast, dynamic trajectory planning for a dynamically stable mobile robot

This work presents a method to generate dynamically feasible trajectories for a balancing robot in the presence of obstacles, both static and moving. Intended for use on a ballbot, these trajectories respect the dynamics of the robot, and can be generated in milliseconds. Trajectories were experimentally verified on the ballbot in unstructured indoor environments at speeds up to .7 m/s and distances of up to 25 m. The method presented provides a tractable solution for indoor ballbot navigation, enabling safe movement through unstructured environments.