A RANDOM PROFILE APPROACH TO MINIMUM-TIME PARKING PROBLEMS FOR NON-HOLONOMIC WHEELED MOBILE ROBOTS

We present in this paper a variant of a stochastic method of trajectory planning recently developed for Non-Holonomic mobile robots in the presence of static obstacles in the workspace. This variant makes use of cubic spline function to model the x, y components of the geometric path followed by the robot as well as the motion on this path. The minimum-time trajectory is determined via a hillclimbing technique with variable interval size. Results are presented for parking problem under bounded torque constraints and for various parking configurations (parallel, diagonal and row parking).