A new strategy in dynamic time-dependent motion planning for nonholonomic mobile robots

This paper presents an extension of motion planning in consideration of travel time and velocity during the trajectory generation. In this study, cubic and quintic polynomials were adopted to obtain a smooth trajectory for a single nonholonomic mobile robot. In addition, a new strategy in generation of the trajectory has been introduced, which consists of offline and online planning. Offline planning is executed at the early stage of planning, in order to plan a trajectory within the known static obstacles in the presented environment. Whilst, online planning deals with the unknown static obstacles during the mobile robot navigates in the environment and to catch-up the time loss, due to avoiding the obstacles, in order to reach the final point at the specified time. The presented simulation results demonstrate the effectiveness of this new strategy in motion planning for the mobile robot.