Motion planning and control for non-holonomic mobile robots

The design of autonomous robots relies heavily on the development of feasible and efficient motion planning and control algorithms. Such a design must consider the non-holonomic constraints which characterize the existing wheeled mobile robots. In this paper the integration of reliable procedures for motion planning and for control is performed by means of an appropriate interface, taking into account the geometric, kinematic and dynamic models of the mobile base. Simulation results show the effectiveness of the proposed approach.