A novel approach to smooth trajectory planning of a mobile robot

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 inluded in natural behavior of the mobile robot. The modified path becomes a smooth, easily trackable near time and distance optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dyanamic configuration spaces, became of simplicity and low computational time.