This article presents a novel method to generate a trajectory for a two-wheeled mobile robot moving in an uncertain environment where only a few way-points are available to reach a nearby target state. The proposed method interpolates way-points by the combination of a straight line and a fifth-order Bézier curve along which the curvature varies continuously. In addition, a method to generate the associated timing law is proposed such that the robot travels along the curve in near minimum time under the maximum velocity and torque constraints. Since the method aims for an online application, heuristic techniques are applied to minimize the computational cost for finding the optimal solution. The time for computing a complete time-optimal trajectory for a moving robot to transit to a next way-point is only several milliseconds when tested in a personal computer. This result implies that a highly efficient motion control system for a two-wheeled mobile robot can be implemented with a low-cost hardware available today.

中文翻译：

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不确定环境下两轮移动机器人的轨迹生成

本文提出了一种新方法，为在不确定环境中移动的两轮移动机器人生成轨迹，在该环境中，只有少数路径点可用于到达附近的目标状态。所提出的方法通过直线和曲率连续变化的五阶贝塞尔曲线的组合来插值路点。此外，提出了一种生成相关时序规律的方法，以便机器人在最大速度和扭矩约束下以接近最短的时间沿曲线行进。由于该方法针对在线应用程序，因此应用启发式技术来最小化寻找最优解的计算成本。在个人计算机上进行测试时，计算移动机器人到下一个航点的完整时间最优轨迹的时间仅为几毫秒。这一结果意味着可以使用当今可用的低成本硬件来实现用于两轮移动机器人的高效运动控制系统。