Implementation of joint space trajectory planning using RTO swith considering velocity constraints for mobile robots

This paper presents an implementation of a smooth path planning method that considers the physical limits using a real time operating system to control a two-wheel mobile robot (TMR). A Bezier curve is utilized to make an S-curved path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The joint space velocity is computed to drive the TMR from the center velocity. A real time controller running a real time operating system was used to control the TMR.