{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T14:48:40Z","timestamp":1777128520818,"version":"3.51.4"},"reference-count":43,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T00:00:00Z","timestamp":1675987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["P2-0219"],"award-info":[{"award-number":["P2-0219"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["L2-3168"],"award-info":[{"award-number":["L2-3168"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["P2-0219"],"award-info":[{"award-number":["P2-0219"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["L2-3168"],"award-info":[{"award-number":["L2-3168"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several B\u00e9zier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order B\u00e9zier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios.<\/jats:p>","DOI":"10.3390\/s23041982","type":"journal-article","created":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T05:18:35Z","timestamp":1676006315000},"page":"1982","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using B\u00e9zier Curves with Constraints on Velocity, Acceleration and Jerk"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8152-1809","authenticated-orcid":false,"given":"Martina","family":"Benko Loknar","sequence":"first","affiliation":[{"name":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1461-3321","authenticated-orcid":false,"given":"Gregor","family":"Klan\u010dar","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9347-8534","authenticated-orcid":false,"given":"Sa\u0161o","family":"Bla\u017ei\u010d","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Carbone, G., and Gomez-Bravo, F. 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