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Time-optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots
Toni Petrinic,Mišel Brezak,Ivan Petrovic 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper is concerned with the problem of finding a time-optimal velocity profile along the predefinedpath for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for eachmobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimalvelocity planning is achieved using so called bang-bang control where minimum and maximum accelerations ofthe formation are alternating. The developed trajectory planning algorithm is demonstrated on the formation ofdifferential drive mobile robots.