Theoretical Aspects and their Influences in Planning Planar Trajectories of Mobile Robots
Mircea Niţulescu · 2024
This paper comparatively analyzes several theoretical aspects related to the planning of planar trajectories of mobile robots in the presence of obstacles, as well as the generation of the associated mathematical relations for each type of approach. It is considered the case where only the avoidance of obstacles can be achieved, not their escalation. The paper focuses on the successive and comparative analysis related to the theoretical foundation in the general case of planar trajectory planning of mobile robots, the continuous approach in trajectory planning, the discrete approach and respectively the solution based on the volume swept by mobile robots on the trajectory. Several case studies are included and comparatively analyzed in the paper. They are intended to highlight the specific limitations for each method as well as some solutions to solve current issues, such as: the influence of the sampling step set in the discrete approach, the possibility of missing detections for certain too small obstacles, the loss of a trajectory or even the only possible trajectory to the target, other influences in case of local planning of trajectories of mobile robots, etc. The content of this paper is useful in the development of algorithms for planning the planar trajectories of mobile robots in environments with obstacles, both in on-line and off-line versions.