Kinodynamic Modular Approach Local Trajectory Planner for Straightforward Motions of Differential Wheeled Mobile Robots

This paper introduces a Kinodynamic Modular Approach(KMA) local planning algorithm designed to gener- ate an obstacle avoidance trajectory that has both feasible and straightforward motions for differential wheeled mobile robots(DWMRs). To enhance the smoothness and feasibility of the trajectory, the proposed planner incorporates a kinody- namic system that considers non-holonomic constraints with velocity and acceleration limits. Not only consistent but also straightforward motion is obtained by defining basic motions and selecting the appropriate one according to the given situation. The simulation and real-world experiment results demonstrate the intuitiveness and applicability of the proposed algorithm compared to the time elastic band(TEB) algorithm.