Abstract
The problem of control of mobile robot is considered. It is assumed that the start and end points of the trajectory are set, and one or more obstacles in the form of circles are present on the line connecting these points. Circles are defined by the coordinates of their centers and the lengths of their radius. The feasible trajectory must not share points with the interiors of these circles. The proposed principle is to represent any feasible trajectory as a sequence of straight sections and arcs of circles that limit circular obstacles. The robot’s movement along straight sections is described by a second-order differential equation, and the movement along arcs is uniform with a given minimum speed.
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