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Volume 25
Issue 10
10.3390/s25103143
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves

by
Wei Zeng
,
Tifan Xiong
and
Chao Wang
*
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
*
Author to whom correspondence should be addressed.
Sensors 2025, 25(10), 3143; https://doi.org/10.3390/s25103143
Submission received: 25 February 2025 / Revised: 30 April 2025 / Accepted: 12 May 2025 / Published: 15 May 2025
(This article belongs to the Section Sensors and Robotics)
Versions Notes

Abstract

Navigation is a fundamental technology for mobile robots. However, many trajectory planning methods suffer from curvature discontinuities, leading to instability during robot operation. To address this challenge, this paper proposes a navigation scheme that adheres to the kinematic constraints of a two-wheeled differential-drive robot. An improved and efficient RRT algorithm is employed for global navigation, while an adaptive clothoid curve is utilized for local trajectory smoothing. Simulation results demonstrate that the proposed method effectively eliminates curvature discontinuities and enhances operational efficiency.
Keywords: differential drive; trajectory planning; clothoid curve; optimization; kinematic constraints differential drive; trajectory planning; clothoid curve; optimization; kinematic constraints

Share and Cite

MDPI and ACS Style

Zeng, W.; Xiong, T.; Wang, C. Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves. Sensors 2025, 25, 3143. https://doi.org/10.3390/s25103143

AMA Style

Zeng W, Xiong T, Wang C. Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves. Sensors. 2025; 25(10):3143. https://doi.org/10.3390/s25103143

Chicago/Turabian Style

Zeng, Wei, Tifan Xiong, and Chao Wang. 2025. "Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves" Sensors 25, no. 10: 3143. https://doi.org/10.3390/s25103143

APA Style

Zeng, W., Xiong, T., & Wang, C. (2025). Optimization of Smooth Trajectories for Two-Wheel Differential Robots Under Kinematic Constraints Using Clothoid Curves. Sensors, 25(10), 3143. https://doi.org/10.3390/s25103143

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