摘要：AbstractThe present paper aims to study the time-optimal path planning problem for a wheeled mobile robot in an obstacle-free environment with given initial and final configuration and considering constraints on maximal permissible velocity, acceleration, and jerk. The path consists of analytically derived constant acceleration and constant deceleration (CACD) motion primitives, which at the junctions also ensure smooth transitions of curvature, vehicle’s acceleration, and jerk. Smooth path planning is chosen to prevent instant changes of acceleration that improves the driving comfort, the tracking performance and lowers wear of actuators. Conducted experiments confirm that the proposed motion primitives form a feasible, time-optimal path under given dynamical constraints.
