Alireza Sahraei - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Taghi Manzuri - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Masoud Tajfard - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Saman Khoshbakht - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran

This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. In this algorithm we use the Voronoi diagram to find a sketchy path that keeps away from obstacles and then we smooth this path with a novel use of Bezier curves. This algorithm defines velocity magnitude of a robot along the curved path to satisfy optimality conditions and dynamic constrains. The algorithm has been implemented on real robots, and we present experimental results in different environments.

Trajectory planning; time optimality; omni-directional robot; obstacle avoidance; real-time motion planning