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<p>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.</p>

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

  • 期刊论文

  • 发表日期：

    2025年7月3日

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  • Tao Zhang,
  • Yi Dong,
  • Hongyi Li

摘要

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.