Time optimal path planning for a wheeled mobile robot

This paper investigates time optimal path planning under kinematic and dyna mic constraints for a 2-DOF wheeled mobile robot (WMR). The dynamic model o f a WMR is derived using the Newton-Euler method and the constraints are an alyzed. Kinematic constraints are imposed by WMR's nonholonomy and structur al limits, while dynamic constraints are due to motor saturation. The path planning is formulated as a two-stage planning. First, path planning under kinematic constraints is transformed into a pure geometric problem, The sho rtest path composed of circular arcs and straight lines is obtained. Then, a time optimal velocity profile is generated under dynamic constraints. Sin ce constraints of a WMR are fully exploited, the proposed method is simple and effective. Simulation results are demonstrated. (C) 2000 John Wiley & S ons, Inc.