2022
DOI: 10.15622/ia.21.3.1
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Trajectory Planning Algorithms in Two-Dimensional Environment with Obstacles

Abstract: This article proposes algorithms for planning and controlling the movement of a mobile robot in a two-dimensional stationary environment with obstacles. The task is to reduce the length of the planned path, take into account the dynamic constraints of the robot and obtain a smooth trajectory. To take into account the dynamic constraints of the mobile robot, virtual obstacles are added to the map to cover the unfeasible sectors of the movement. This way of accounting for dynamic constraints allows the use of ma… Show more

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Cited by 4 publications
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References 37 publications
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