A randndom profile approach to minimum-time parking proplems for non-holnomic wheeled mobile robots

Abstract EN

We present in this paper a variant of a stochastic method of trajectory planning recently developed for non-holozoic mobile robots mobile robots in the presence of static obstacles in the workspace.

This variant makes use of cubic spine function to mobile the x, y components of the geometric path followed by the robot as well as the motion on this path.

The minimum-time trajectory is determined via a hill-climbing technique with variable interval size.

Results are presented for parking problem under bounded torque constraints and for various parking configurations (parallel, diagonal and row parking).