Real-time generation of a continuous acceleration trajectory for mobile robots

This paper presents an algorithm for solving realtime trajectory generation for mobile robots with parameterized control method. A double-S velocity profile is extended by a bisection technique to get free initial acceleration. By introducing this extended double-S velocity profile with limited jerk for transitional velocity control and a polynomial function for rotational velocity control, the algorithm achieves continuous acceleration control in a smooth manner. The algorithm can be used as a part of high-level path planner with low computational complexity. The implementation on a real vehicle verifies the feasibility and efficiency of the proposed algorithm.