Trajectory Planning Optimization for the Autonomous Three-Wheeled Omnidirectional Mobile Robot

Abstract

Trajectory planning optimization in the robotics field identified as the series of actions that must be taken in order to generate the optimal path such that it improves the overall performance of the robot properties or reduces the consumption of the resources where the restriction system remains maintained. In this study, a new method is developed which hybridizes the Constrained Dynamic Inversion Based (CDIB) method with the Simulated Annealing (SA) algorithm in order to achieve improvements in the trajectory planning optimization (TPO) for the omnidirectional wheeled mobile robot (OWMR) with three omnidirectional orthogonal wheels. Numerical tests and simulations are presented aiming to ensure the efficiency and the competence of the hybridized method. © 2021 IEEE.