An Intelligent Speed-Suggestion Planner for Coverage Path with Multiple Constraints

In this paper, we consider various constraints to generate a recommended speed profile for the covered path of the mobile robot, and use the recommended speed profile as the control input to complete trajectory tracking. These speeds are affected by the constraints of the robot's kinematics and dynamics model and the constraints of the robot's environment. The speed planner is used in many scenarios of mobile robots, such as cleaning robots, disinfecting robots, etc., which can improve the safety and efficiency of tasks performed by robots. We introduce the commonly used traffic regulations in daily life into the generation of speed profile. In certain sections of highways or urban roads, there will be a road sign indicating the recommended speed of the section. And our paper is to generate the speed of each point for the given path as the recommended speed for the robot to drive for reference. We use a dynamic window method to update the current environment in real-time. And calculate the influence of the environment in the window on the current speed. Then we use a pure pursuit method to track the given path, and we define a safety cost function to express the safety of the trajectory. We demonstrated the efficiency and security of this method by using a simulation platform.