Mobile non-holonomic robots: Trajectory generation and obstacle avoidance

The constraints of non-holonomic mobile robots are expressed as a non-integrable equations. For solving of trajectory generation problem, we have developed computer-aided technique by means of a heuristic method which is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations and positions. In the cases of obstacled environment we have extended this algorithm by adding an intelligence to the robot (AGV), i.e. applying of fuzzy-logic controller. A number of simulation experiments on various PCs using this technique have been done, and run time takes only a few miliseconds. It has become apparent that this approach is quite attractive for use in real-time motion planning.