Abolhassan Razminia

One of the main issues in robotics systems is planning and tracking a safe path in diverse environments. This paper addresses an optimal methodology for generating the desired path and thereafter forces the mobile robot to follow the designed reference path. The proposed technique has the potential to tackle the inherent challenges and intricacies of the environment, enabling the robot to navigate both static and dynamic workspaces. Several simulations are exploited to verify the captured theoretical results. Three cases were examined in a static environment, achieving average performance metrics for reference signals in the X- and Y-directions, and heading tracking of 99.62%, 99.64%, and 95.08%, respectively. For the dynamic environment, two cases were studied, with average performance in following the Y-direction and heading angle recorded as 97.58% and 86.79%, respectively. Simulation results show that the controller calculated the optimal signal with an average computational time of 7 ms per iteration for static environments and 21.3 ms per iteration for dynamic environments.