Bp 240 en
Smooth trajectory planning for mobile robots
Author: Beneš Petr
The aim of this work is to analyze possibilities of mobile autonomous robot trajec- tory planning using smooth curves, choose one of the options which fits the most to requests and restrictions related to the physical parameters of robot and time complexity of utilised algorithms. Consequently, these algorithms are simulated in Matlab and finally implemented as a C++ library. Thanks to the library integration we gained a more fluent motion and a possibility to lower the pass period. This contributes to increased number of movements during the game period.