Trajectory Generation Based on Bézier Curve and Its Application to Cooperative Transportation

This paper proposes a trajectory generation method utilizing the Bézier curve for mobile robots and employs it in the cooperative transportation task. In contrast to the approach of predefining spatial features and then allocating time accordingly, the proposed method expresses the spatial character...

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Bibliographic Details
Published inJournal of systems science and complexity Vol. 38; no. 4; pp. 1499 - 1523
Main Authors Zhang, Tao, Dong, Yi, Li, Hongyi
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.08.2025
Springer Nature B.V
Subjects
Complex Systems
Control
Curves
Mathematics
Mathematics and Statistics
Mathematics of Computing
Operations Research/Decision Theory
Statistics
Systems Theory
Trajectories
cooperative transportation
trajectory generation
Bézier curve
formation control
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Summary:This paper proposes a trajectory generation method utilizing the Bézier curve for mobile robots and employs it in the cooperative transportation task. In contrast to the approach of predefining spatial features and then allocating time accordingly, the proposed method expresses the spatial characteristics through duration on the basis of ensuring the continuity of dynamics, and then concurrent planning of spatial and temporal characteristics, thereby leading to a trade-off between time efficiency and optimizing spatial features. Furthermore, the proposed method is combined with formation control and applied to a cooperative transportation task. The effectiveness and practicability of the proposed trajectory generation method are verified through both simulation and experiment.
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ISSN:1009-6124
1559-7067
DOI:10.1007/s11424-025-4086-7