CHARGING TRAJECTORY PLANNING AND MOTION CONTROL FOR INDOOR MOBILE ROBOTS

Yanli Li, Weidong Liu, Le Li, and Xiaokang Lei

Keywords

Trajectory planning, motion control, indoor robot

Abstract

Due to the size and battery capacity limitations of mobile robots, the charging operation is typically needed in order to achieve a large working endurance of robots. This paper considers the charging trajectory planning and motion control problem of indoor mobile robots, proposes an integrated use of a 2D laser LIDAR and a camera for sensing the environment information and detecting the position and orientation, and subsequently develops a low-cost three-step charging path planning and motion control approach. Firstly, the charging trajectory planning method is presented based on the A algorithm and a parabolic-linear curve-based trajectory smoothing algorithm. Next, control laws for the trajectory tracking and the point stabilization of the robot are designed according to the kinematics model of robot and the feedback control theory. Finally, simulation experiments are conducted on the Gazebo platform with a Turtlebot3 robot to demonstrate the efficiency of the proposed trajectory planning method and the motion control laws.

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