A Trajectory-Tracking-Oriented Reference Trajectory Generation Method for Mobile Robots

To address the limitations of conventional mobile robot path planning results in terms of geometric continuity, kinematic executability, and adaptability to dynamic environments, this study proposes a reference trajectory generation method oriented toward trajectory tracking. First, the A* algorithm is employed to search for an initial collision-free path, and key-point sparsification is applied to remove redundant nodes. Then, a geometrically continuous reference path is constructed using cubic B-splines. On this basis, by considering the kinematic constraints of the differential-drive mobile robot together with the local curvature characteristics of the path, a local trackability index is introduced, and the reference velocity is adaptively corrected under the maximum angular velocity constraint to improve trajectory executability and tracking smoothness. To address local path invalidation caused by dynamic obstacles, a collision-risk-triggered local replanning and trajectory stitching mechanism is further developed to achieve smooth transition between the original and updated trajectories. Simulation and real-world experimental results demonstrate that the proposed method can effectively reduce path redundancy, improve trajectory smoothness and executability, and achieve rapid local path updating and stable trajectory stitching in dynamic environments.