Motion planning on Mobile Robots using Differential Flatness

Abstract

One solution for the motion planning in a nonholonomic vehicle, described as mobile robot, is made in this paper. Using the boundary conditions, the desired trajectory is parameterized in a polynomial by means of a point to point steering algorithm. The system is drove trough the trajectory, using the Differential Flatness properties, calculating the input values in order to perform the movement. Simulations and results of the study are presented.