Collision free real-time motion planning for omnidirectional vehicles

A computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves for obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. The numerical simulation demonstrates the improvement of path following in terms of travel time, satisfaction of dynamic constraints, and smooth motion control compared to previous research.