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An autonomous mobile robot should find feasible trajectories in order to avoid collisions with obstacles in its environment. This ability to plan collision-free trajectories requires two major aspects: modulation and generation of trajectories. This is especially important if temporal stabilization of the generated trajectories is considered. Temporal stabilization means to conform to the planned movement time, in spite of diversified environmental conditions or perturbations. This timing problem applied for wheeled vehicles has not been addressed in most current robotic systems. Herein, we extend our previous work by integrating an architecture able to generate timed trajectories for a wheeled mobile robot, whose goal is to reach a target location within a specified time, independently of the world complexity.

Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments