The Path Modelling of the Robot Motion Between Obstacles in Matlab® Software

Abstract

The paper deals with the path modelling and simulation of the drive robot motion. The paper presents the method of finding locally optimal path with respect to some physical conditions. The polyline and circular segments represent the path. Our main tool of solving this task is Matlab® software. Thanks to this Matlab scripts we found a trajectory more suited to drive robots and faster. Used with an adapted trajectory planning method, this algorithm can be useful for finding a path between two points. Depending on the stability constraints of the robot, the speed can be adapted in turns, looking at the centrifugal force that undergoes the robot.