Tarbiat Modares University The Modares Journal of Electrical Engineering 2228-527X 12 3 2012 12 01 Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments برنامه‌ریزی مسیر زمان‌دار بهینه‌ی چندجمله‌ای و دوری از موانع برای ربات‌های متحرک چند‌جهته در محیط‌های دینامیکی 13 19 12919 EN Fatemeh Tohfeh M.Sc. of Control Engineering, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran, Ahmad Fakharian Assistant Professor, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran, Corresponding Author Journal Article This paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for Omni-directional robots. The aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. First, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms trajectory planning to an optimization problem. Then we use a novel method to solving the optimization problem and obtaining the unknown parameters. Finally, the efficiency of proposed approach is confirmed by simulation. https://mjee.modares.ac.ir/article_12919_44788404a9a7eee60c80ad849e3efb7b.pdf