Obstacle avoiding real-time trajectory generation and control of omnidirectional vehicles

In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bezier curves, which meet obstacle avoidance criteria. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. Accelerations of the robot are computed such that they satisfy the time optimal condition for each sample time interval. The numerical simulation demonstrates the improvement of trajectory generation in terms of travel time, satisfaction of dynamic constraints and smooth motion control compared to previous research.