Multiple Waypoints Trajectory Planning with Specific Position, Orientation,Velocity and Time using Geometric Approach for A Car-like Robot

This paper proposes a new approach to plan the motion for a car-like mobile robot navigating in static environments. A multiple waypoints trajectory planning is introduced in order to ensure the planned trajectory is smooth and is able to guide the robot to pass through all the required waypoints at the specified position, orientation, velocity and time. This presented approach uses cubic and quintic polynomials to obtain a smooth trajectory. Furthermore, the generated trajectory is time-depended and the kinematic constraints of the mobile robot are taken into account during the generation of trajectory. While navigating, the mobile robot is able to negotiate with unexpected static obstacles, adjust its original trajectory and travel speed, and finally reach the final location at the specified time, orientation and velocity. The simulation results demonstrate the effectiveness and practicality of the proposed approach.