Decision of Robotics Trajectory based on Curve Fitting Techniques

Abhinash; Ashwani Kumar Jha

Abstract: The proposed study is based upon the estimation of equation of curve path which is used as robot trajectory. It enables the robot to identify the hurdle and avoiding it by opting curvilinear path. The decision of curvilinear path is based upon occurrence of obstacle in path. In this case robots move continuously in forward direction but while encountering the hurdle, it slightly changes the direction and move on the curvilinear path. The equation of required curvilinear path is evaluated using Matlab program and further this equation is feed into the microcontroller for simulating the path in real world.

Keywords: Mobile robots, Trajectory generation, Obstacles avoidance, Time complexity