An approach for intelligent mobile robot motion planning and trajectory tracking in structured static environments

Abstract

An approach for intelligent robot motion planning and tracking in known and static environments is presented in this paper. This complex problem is divided into several simpler problems. The first is generating collision free path from starting to destination point, which is solved using particle swarm optimization (PSO) algorithm. The second is interpolation of obtained collision free path, which is solved using radial basis function neural network (RBFNN), and trajectory generation, based on interpolated path. The last is trajectory tracking problem, which is solved using simple proportional (P) controller. Simulation studies were realized to validate and illustrate this approach.