Trajectory planning for mobile robots based on dynamical models
C. Gurtler, László Vajta, István Nagy · 2002
In this paper we describe an algorithm for optimal trajectory planning of a polygonal mobile robot, capable of translational motion, in a known environment, using the dynamic properties of the robot. The navigational environment contains stationary polygonal obstacles, its bounding walls are also polygonal. The whole map of the navigational environment (the obstacles and the free space) is already known.