Time-dependent Motion Planning for Nonholonomic Mobile Robots

This paper presents the development of a time-dependent trajectory generation method for nonholonomic mobile robots using a geometry-based approach. In this study, cubic and quintic polynomials have been adapted to obtain a smooth trajectory for a single mobile robot. The generated trajectory is time dependent with the required position, orientation and velocity of the mobile robot taken into account during generation. The presented simulation results demonstrate the effectiveness of this trajectory generation method for a single mobile robot navigating in the environment that contains static obstacles.