Time optimal trajectory generation for a differential drive robot
Iyer, Subramaniam V.
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Trajectory generation or motion planning is one of the critical steps in the control design for autonomous robots. The problem of shortest trajectory or time optimal trajectory has been a topic of active research. In this, thesis Sequential Linear Programming algorithm (SLP) and Global Local Mapping (Glomap) are the two methods used to solve the optimal trajectory generation problem for a differential drive robot. The time optimal path planning problem is posed as a linear programming problem which is solved using the SLP algorithm. In the Glomap approach the time domain is broken into smaller domains. The trajectory is generated for each local domain and then merged into a global trajectory. In both these methods potential functions are used to represent the obstacles in the configuration space. The trajectory generation methods are implemented in Matlab and validated on a robotic platform. Though the methods mentioned here are used for path planning for a differential drive robot they may be used for other systems with little or no modifications