Trajectory Generation for Autonomous Mobile Robots

Part of the Studies in Computational Intelligence book series (SCI, volume 540)


This chapter presents the generation of car-like autonomous mobile robots/vehicles tracking trajectory with three different methods comprising of flatness, polynomial and symmetric polynomial equations subject to constraints. Kinematic models for each method are presented with all necessary controlled variables including position, body angle, steer angle and their velocities. The control systems for this model are designed based on fuzzy/neural networks. Simulations are analyzed and compared for each method. Studies of this chapter can be used to develop a real-time control system for auto-driving and/or auto-parking vehicles.


Trajectory generation Autonomous mobile robot Nonholonomic Flatness Polynomial 


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Copyright information

© Springer Science+Business Media Singapore 2014

Authors and Affiliations

  1. 1.Mechanosystem—Department of MechatronicsTallinn University of TechnologyTallinnEstonia

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