Optimal path generation for a simulated autonomous mobile robot

The paper deals with a set of algorithms including path planning, trajectory planning, and path tracking for a tricycle type wheeled mobile robot. Path planning is carried out with parametric polynomial interpolation using an optimization algorithm based on robot geometric constraints. Trajec-tory characteristics are then derived from the planned geometric path with time varying parameters. A sliding mode control algorithm combined with an adaptive control law are used to track the planned tra-jectory. The technique deals with an environment free of obstacles. However, it can be easily integrated in a piecewise non colliding path generation. Simulation results are presented to show the validity of the diierent algorithms.