Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments

This paper addresses the problem of constructing a trajectory from a given set of points, considering a mobile robot. Following the initial pose of the robot, the points are connected in sequence by cubic Bezier segments. After selecting the tangential velocity at the connection points, these segments are time-optimized under the velocity and acceleration constraints of the robot, both tangential and angular, using nonlinear constrained optimization. The optimization problem is simplified by exploitation of polynomials. Experimental studies demonstrate the effectiveness of the algorithm.