Real time path planning using trapezoidal acceleration profile for omnidirectional mobile robot

In the paper, we consider path planning for an omni-directional mobile robot. Previous solutions to this problem computed paths made up of circular arcs connected by tangential line segments. Such, paths have a non continuous curvature profile. So we propose an efficient solution to the problem that is continuous curvature, the method is used trapezoidal acceleration. Given the desired initial position and orientation of the robot as (A_start, V_start, P_start) and the desired final position and orientation as (A_target, V_target, P_target), it derives successful continuous path with the trapezoidal acceleration method.