Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms

Motoji Yamamoto, Makoto Iwamura, Akira Mohri

Research output: Contribution to journalArticlepeer-review


This paper addresses a problem of time-optimal trajectory planning for skid-steer platforms considering obstacle avoidance. Considering both time-optimality and obstacle avoidance for mobile robot is not easy, because the two problems are coupled in the trajectory planning problem. Using an idea of path parameter, the trajectory planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) optimal path planning considering obstacle avoidance. Then an efficient search method is proposed for each problem, using the idea of path parameter and B-Spline approximation method. The idea of path parameter simplifies the optimization problem for specified path planning problem of mobile robot. Simulation results show the effectiveness of the proposed trajectory planning method.

Original languageEnglish
Pages (from-to)3039-3046
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number624
Publication statusPublished - 1998

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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