Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves
Hiroaki Ozaki and Chang-jun Lin
Mechacnical Engineering, Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonan-ku, Fukuoka 814-0180, Japan
We propose a new algorithm for planning collision-free trajectories for a mobile robot. The trajectories of the mobile robot are described by uniform B-spline curves and these control points are optimized using the complex method. The complex method is very effective for this type of optimization of nonlinear problems because it does not require any computation of the gradient of performance index. B-spline curves have advantages for trajectory generation in that they guarantee the continuity of trajectories and the order of trajectories can be changed easily. Effectiveness is also confirmed by trajectory planning simulation of a two-dimensional mobile robot.