Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk.

This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bézier curve that enables a simple and intuitive parameterization.