An heuristic for trajectory generation in mobile robotics

We present an heuristic to compute the points in a trajectory in a 2D space based on the trapezoidal velocity profile, where the computed trajectory is subject to the constraints of initial position and velocity, final position and velocity (defined as vectors) and the values for acceleration and plateau speed (defined as scalars). The proposed heuristics are directed at omnidirectional holonomic robots, i.e., robots that are capable of, amongst others, manoeuvring without affecting the orientation. These algorithms are currently being applied to the CAMBADA team RoboCup MSL robots. Although without a formal proof, numerical experiments have shown that the algorithms converged to a viable solution when the data fulfils the necessary conditions.