Abstract
In this paper we present an integrated path generation and path planning system for mobile robots and intelligent autonomous vehicles. The system integrates a new extension of a planning algorithm to determine an optimal obstacle free path, with a new efficient path generation method based on β-splines to compute the postures defining the path to follow from the results of the path planning algorithm. The result is a continuous stream of postures with continuity in position, heading and curvature, maximum curvature lower than a certain value provided by vehicle´s kinematic and dynamic analysis, and smooth quasilinear curvature transitions. In the paper we also present the implementation of the system in a real time vehicle´s controller, and the application to RAM-I a new autonomous mobile robot designed and built for navigation in indoor and outdoor industrial environments.
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