Performance of a time-dependent motion planning approach for a car-like robot in static environments

Abstract

Trajectory planning and obstacle avoidance are very important issues to obtain a smooth and collision-free navigation for an autonomous mobile robot. In this paper, the performance of a time-dependent motion planning approach for a car-like robot is presented. The proposed approach can be divided into two levels; offline and online planning. Offline planning generates a collision-free trajectory with the consideration of known obstacles at the early stage, while online planning deals with unknown obstacles once the robot starting to move. The generated trajectory is developed based on a geometric approach. This paper mainly focuses on the offline planning which was implemented and tested using a car-like robot in static environments. The presented results demonstrate the performance of the offline planning and the practicality and effectiveness of the algorithm.