Polynomial based optimal trajectory planning and obstacle avoidance for an omni-directional robot

An obstacle avoidance trajectory planning for an omni-directional robot is investigated in this paper where obstacles moves with velocity and acceleration constraints. The key issue is an optimized solution for the problem with respect to a cost function which is related to the states and energy consumption. Moreover, the trajectory functions are considered as polynomial functions to obtain desired trajectory. Consequently, this converts the optimal control problem into a small size parameter optimization problem. The low computational cost make this method ideal for trajectory planning in Dynamic environments. The proposed method is simulated and results show its effectiveness in avoidance of collisions with moving obstacles.