Path planning method for mobile robot with maneuver restrictions

in this report a method of trajectory planning for a mobile robot with maneuver restrictions is developed. The maneuver restrictions depends on robot's velocity. Restrictions are represented by virtual obstacles that close up the inaccessible to the robot sectors when it moves at specific velocity. The proposed method is compatible with any path-planning algorithm. The paper describes trajectory planning system of mobile robot based on rapidly exploring random trees method. Dijkstra's algorithm searches the shortest path in the tree. Motion control system calculates the desired yaw angle and velocity of the robot and automatically reduces the velocity when approaching obstacles and while turning. Simulation results for the wheeled robot in obstructed environment are presented.