Trajectory construction for mobile robot motion based on analysis of geodesics on a surface of revolution

Simulation of physical processes

The problem of mobile robot path planning to avoid an obstacle, which is modeled by a surface of revolution, is considered. The approach is based on geodesies analysis on this smooth surface. The problem can be treated as a base task for the algorithm of smooth trajectory motion control of the mobile robot in the environment with the obstacles approximated by smooth surfaces with elliptic horizontal sections.