Dynamic trajectory planning for mobile robot intercepting a moving target using Bezier curve

@article{Deshmukh2016DynamicTP,
  title={Dynamic trajectory planning for mobile robot intercepting a moving target using Bezier curve},
  author={Vaibhav V. Deshmukh and Kshitija R. Deshmukh and Siddaram. R. Patil},
  journal={2016 IEEE Students’ Technology Symposium (TechSym)},
  year={2016},
  pages={322-327}
}
This paper presents a dynamic trajectory planning approach for a nonholonomic mobile robot intercepting a moving target. The path is formulated using cubic Bezier curves. Location data from an overhead camera is used to compute the initial trajectory. The algorithm alters the trajectory in real time according to change in position and velocity of the target and the mobile robot without exceeding acceleration limits. The wheel velocities are then computed from the compliant center velocity… CONTINUE READING

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