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Time-optimal velocity planning along predefined path for static formations of mobile robots

Abstract

This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang control where minimum and maximum accelerations of the formation are alternating. The developed trajectory planning algorithm is demonstrated on the formation of differential drive mobile robots.

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Correspondence to Toni Petrinić.

Additional information

Recommended by Associate Editor Sooyeong Yi under the direction of Editor Hyouk Ryeol Choi. This research has been partly supported by the Ministry of Science, Education and Sports of the Republic of Croatia under the grant “Centre of Research Excellence for Data Science and Cooperative Systems.”

Toni Petrinić received his B.Sc. degree in Electrical Engineering from the Faculty of Electrical Engineering and Computing (FER Zagreb), University of Zagreb, Croatia, in 2005. Since 2006 he has been with HEP-ODS d.o.o., Elektroprimorje Rijeka, Pogon Cres-Lošinj, where he is currently a head of technical department. His main research interest is in the field of mobile robotics.

Mišel Brezak received his Ph.D. degree in Electrical Engineering from the Faculty of Electrical Engineering and Computing (FER Zagreb), University of Zagreb, Croatia, in 2010. His main research interests are in the fields of mobile robotics and computer vision. He published 4 journal and more than 20 conference papers.

Ivan Petrović received his B.Sc. degree in 1983, an M.Sc. degree in 1989 and a Ph.D. degree in 1998, all in Electrical Engineering from the Faculty of Electrical Engineering and Computing (FER Zagreb), University of Zagreb, Croatia. He had been employed as an R&D engineer at the Institute of Electrical Engineering of the Končar Corporation in Zagreb from 1985 to 1994. Since 1994 he has been with FER Zagreb, where he is currently a full professor. He teaches a number of undergraduate and graduate courses in the field of control systems and mobile robotics. His research interests include various advanced control strategies and their applications to control of complex systems and mobile robots navigation. He has published more than 40 journal and 160 conference papers, and results of his research have been implemented in several industrial products. He is a member of IEEE, IFAC–TC on Robotics and FIRA–Executive committee. He is a member of the Croatian Academy of Engineering.

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Petrinić, T., Brezak, M. & Petrović, I. Time-optimal velocity planning along predefined path for static formations of mobile robots. Int. J. Control Autom. Syst. 15, 293–302 (2017). https://doi.org/10.1007/s12555-015-0192-y

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Keywords

  • Differential drive mobile robot
  • mobile robot formations
  • tip over and wheel slip prevention
  • trajectory planning
  • velocity and acceleration constraints