Algorithm for correlation of static and dynamic obstacle avoidance for non-holonomic mobile robot

This paper presents the problem of path planning technique for a mobile robot. The mobile robot has nonholonomic constraints. This path planning is an important issue in mobile robots. Specially, when the environment has obstacles, path planning has to find a collision free path for mobile robot to move from the initial position to the final position. This path planning is optimized for the minimum distance. Kinematics model of the non-holonomic mobile robot has been considered. By the derived kinematics model of the system a family of feasible trajectories and their steering control has been derived to avoid collision with the obstacles. The developed algorithm is quite suitable for the dynamic environment.