An Improved Trajectory Deformation Approach for Wheel-based Mobile Robots

In view of the trajectory adjusting in motion planning of wheel-based robots, an improved trajectory deformation approach is presented in this paper. Compared with the original, this approach makes the driftless affine control system converted to an equivalent drift affine system with constraints, and the trajectory satisfies constraints in the process of the deforming iteration. The improved trajectory deformation approach can be applied to the trajectories with arc length as their parameters, which is more suitable for the trajectory generation and tracking in practical robot systems.