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Efficient Path Interpolation and Speed Profile Computation for Nonholonomic Mobile Robots
Lens, Stéphane; Boigelot, Bernard
2015
 

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Keywords :
path interpolation; clothoid; speed profile; mobile robot; robotics
Abstract :
[en] This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning algorithms, into smooth curves that can be followed without stopping. Our solution has the advantage of being simpler than other existing approaches, and has a low computational cost that allows a real-time implementation. It produces discretized paths on which curvature and variation of curvature are bounded at all points, and preserves obstacle clearance. Then, we consider the problem of computing a time-optimal speed profile for such paths. We introduce an algorithm that solves this problem in linear time, and that is able to take into account a broader class of physical constraints than other solutions. Our contributions have been implemented and evaluated in the framework of the Eurobot contest.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Lens, Stéphane ;  Université de Liège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Dép. d'électric., électron. et informat. (Inst.Montefiore)
Boigelot, Bernard  ;  Université de Liège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Informatique
Language :
English
Title :
Efficient Path Interpolation and Speed Profile Computation for Nonholonomic Mobile Robots
Publication date :
March 2015
Available on ORBi :
since 12 August 2015

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