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Minimum-Time Trajectory Planning for a Differential Drive Mobile Robot Considering Non-slipping Constraints

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Abstract

We propose a real-time minimum-time trajectory planning strategy with obstacle avoidance for a differential-drive mobile robot in the context of robot soccer. The method considers constraints important to maximize the system’s performance, such as the actuator limits and non-slipping conditions. We also present a novel friction model that regards the imbalance of normal forces on the wheels due to the acceleration of the robot. Theoretical guarantees on how to obtain a minimum-time velocity profile on a predetermined parametrized curve considering the modeled constraints are also presented. Then, we introduce a nonlinear, non-convex, local optimization using a version of the Resilient Propagation algorithm that minimizes the time of the curve while avoiding obstacles and respecting system constraints. Finally, employing a new proposed benchmark, we verified that the presented strategy allows the robot to traverse a cluttered field (with dimensions of 1.5 m \(\times \) 1.3 m) in 2.8 s in 95% of the cases, while the optimization success rate was 85%. We also demonstrated the possibility of running the optimization in real-time, since it takes less than 13.8 ms in 95% of the cases.

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Acknowledgements

Igor Okuyama acknowledges the support of CAPES (fellowship Proc. #88882.161990/2017-01). Rubens Afonso acknowledges the support of CAPES (fellowship Proc. #88881.145490/2017-01) and the Federal Ministry for Education and Research of Germany through the Alexander von Humboldt Foundation. Igor Okuyama and Marcos Maximo would like to thank the ITAndroids’ sponsors: Altium, Cenic, Intel, ITAEx, Mathworks, Metinjo, Micropress, Polimold, Rapid, Solidworks, ST Microelectronics, WildLife, and Virtual Pyxis.

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Authors and Affiliations

  1. Autonomous Computational Systems Lab (LAB-SCA), Computer Science Division, Aeronautics Institute of Technology, São José dos Campos, São Paulo, Brazil

    I. F. Okuyama & Marcos R. O. A. Maximo

  2. Department of Aerospace and Geodesy, Institute of Flight System Dynamics, Technical University of Munich, Munich, Bavaria, Germany

    Rubens J. M. Afonso

  3. Electronic Engineering Division, Aeronautics Institute of Technology, São José dos Campos, São Paulo, Brazil

    Rubens J. M. Afonso

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  1. I. F. Okuyama
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  2. Marcos R. O. A. Maximo
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  3. Rubens J. M. Afonso
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Correspondence to I. F. Okuyama.

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A Model Parameters

A Model Parameters

Table 4 presents the modeling parameters used in this work.

Table 4 Modeling parameters
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Okuyama, I.F., Maximo, M.R.O.A. & Afonso, R.J.M. Minimum-Time Trajectory Planning for a Differential Drive Mobile Robot Considering Non-slipping Constraints. J Control Autom Electr Syst 32, 120–131 (2021). https://doi.org/10.1007/s40313-020-00657-x

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  • DOI: https://doi.org/10.1007/s40313-020-00657-x

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