Optimal velocity planning for mobile robot based on simultaneous dynamic optimization

A velocity planning method based on synchronous dynamic optimization was proposed in order to address the issue where the actual motion of mobile robots was constrained by motion limits and nonholonomic constraints, making it difficult to balance motion efficiency and actuator tracking performance. A speed planning scheme based on optimal control was established, considering the physical constraints of the wheels and vehicle body rules of the mobile robot. The extraction of the first and second-order constraints from the constraint generator, along with the derivation of a reference trajectory via linear programming, was facilitated, providing initial estimates for numerical optimization. A constraint relaxation method was used with the incorporation of third-order constraints from the constraint generator in order to obtain the optimal speed scheme through synchronous iterative optimization based on the interior-point method. The proposed algorithms were validated through numerical and simulation experiments. The experimental results demonstrate that the physical limits of the robot’s wheels or the limit of its body rule can be reached in terms of motion efficiency. A reduction of over 20% in path position error concerning actuator tracking performance was achieved, which ensured a smooth and efficient motion process. © 2024 Zhejiang University. All rights reserved.