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This paper presents an implementation of trajectory planning method while considering velocity constraints for a two-wheeled mobile robot (TMR) on Xenomai. A Bezier curve is utilized to make a smooth path. A convolution operator was used to generate a velocity profile for the travel distance of the planned path while also giving consideration of the velocity constraints of the TMR. The trajectory planning are performed on Xenomai with multitasking structure, which is a real-time Linux system developed by open-source projects. Finally, the periodicity and schedulability of real-time tasks and trajectory tracking performance were analyzed. Moreover, the efficiency of real-time operating system was also examined.

Implementation of Joint Space Trajectory Planning for Mobile Robots with Considering Velocity Constraints on Xenomai