Joint Space Trajectory Planning Considering Physical Limits with Convolution Operator for Mobile Robots

A practical and useful trajectory planning that considers the physical limits of mobile robots using the convolution operator in joint space are presented. Smooth joint velocity commands that consider the maximum velocity of a mobile robot and systems limit along the path are computed. The effectiveness of the algorithm is shown through various Bezier curves in a robot simulator. Three curved path were conducted to determine whether the mobile robot will be able to meet the physical limits. Each experiment had a different start point and end point. Results show that the mobile robot was able to meet the velocity limit and follow the predetermined path while satisfying physical constraints in the joint space.