Time-Optimal Trajectory Planning Based on Dynamics for Differential-Wheeled Mobile Robots With a Geometric Corridor

2017 ◽  
Vol 64 (7) ◽  
pp. 5502-5512 ◽  
Author(s):  
Yunjeong Kim ◽  
Byung Kook Kim
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Wheeled Mobile Robots ◽  
Time Optimal ◽  
Optimal Trajectory Planning

scholarly journals Curve-based Approach for Optimal Trajectory Planning with Optimal Energy Consumption: application to Wheeled Mobile Robots

2020 ◽  
Vol 53 (2) ◽  
pp. 9670-9675
Author(s):  
Inderjeet Singh ◽  
Manarshhjot Singh ◽  
Ismail Bensekrane ◽  
Othman Lakhal ◽  
Rochdi Merzouki
Keyword(s):  
Energy Consumption ◽  
Mobile Robots ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Wheeled Mobile Robots ◽  
Optimal Energy ◽  
Optimal Trajectory Planning

scholarly journals Optimal Trajectory Planning for Wheeled Mobile Robots under Localization Uncertainty and Energy Efficiency Constraints

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 335
Author(s):  
Xiaolong Zhang ◽  
Yu Huang ◽  
Youmin Rong ◽  
Gen Li ◽  
Hui Wang ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Mobile Robots ◽  
Cost Function ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Planning Method ◽  
Wheeled Mobile Robots ◽  
The Cost ◽  
Localization Uncertainty ◽  
Optimal Trajectory Planning

With the rapid development of robotics, wheeled mobile robots are widely used in smart factories to perform navigation tasks. In this paper, an optimal trajectory planning method based on an improved dolphin swarm algorithm is proposed to balance localization uncertainty and energy efficiency, such that a minimum total cost trajectory is obtained for wheeled mobile robots. Since environmental information has different effects on the robot localization process at different positions, a novel localizability measure method based on the likelihood function is presented to explicitly quantify the localization ability of the robot over a prior map. To generate the robot trajectory, we incorporate localizability and energy efficiency criteria into the parameterized trajectory as the cost function. In terms of trajectory optimization issues, an improved dolphin swarm algorithm is then proposed to generate better localization performance and more energy efficiency trajectories. It utilizes the proposed adaptive step strategy and learning strategy to minimize the cost function during the robot motions. Simulations are carried out in various autonomous navigation scenarios to validate the efficiency of the proposed trajectory planning method. Experiments are performed on the prototype “Forbot” four-wheel independently driven-steered mobile robot; the results demonstrate that the proposed method effectively improves energy efficiency while reducing localization errors along the generated trajectory.

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