Real-time trajectory generation for mobile robots in a corridor-like space using Bézier curves

This article deals with trajectory generation for teleoperated wheeled mobile robot using piecewise Bézier curves that are well-known to have useful properties. We develop an algorithm for generating motion trajectories with continuous curvature (C² continuity). We consider a teleoperated wheeled mobile robot in an indoor environment having ceiling cameras for operator´s visibility. The motion trajectory is constrained by via points and path width designated by the operator. The Bézier subdivision method is employed and quintic Bézier segment is inserted in the high curvature area to improve the trackability by mobile robots. Simulation results demonstrate the feasibility of the proposed method.