Extremal smooth trajectory planning of a mobile robot

Serkan Aydin*, Hakan Temeltaş

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.

Original languageEnglish
Pages (from-to)207-218
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Publication statusPublished - 2001
EventMobile Robots XVI - Newton, MA, United States
Duration: 29 Oct 200130 Oct 2001


  • Mobile robot
  • Obstacle avoidance
  • Path planning
  • Time-optimal path
  • Visibility graph method


Dive into the research topics of 'Extremal smooth trajectory planning of a mobile robot'. Together they form a unique fingerprint.

Cite this