Path planning algorithm for a mobile robot with a synchronous propulsion architecture

In this paper an algorithm is proposed to plan the path taken by a robot in order to reach a specific coordinate. This algorithm is proposed to be used in a robot with a synchronous propulsion architecture, because this architecture improves robot odometry and is not common in navigation tasks, mapping and localization. Furthermore, this algorithm determines the shortest path with respect to the resolution of the displacement and rotation of the robot, minimizing the efforts to reach the desired goal.