St. Petersburg Polytechnic University Journal: Physics and Mathematics Научно-технические ведомости СПбГПУ. Физико-математические науки 2304-9782, 2618-8686, 2405-7223 12 The trajectory construction for mobile robot motion on smooth 3D-surfaces Построение траекторий движения мобильного робота на гладких трехмерных поверхностях Lyashin Andrey Pichugin Yuri yury-pichugin@mail.ru Санкт Петербургский государственный университет аэрокосмического приборостроения Saint-Petersburg State University of Aerospace Instrumentation 25 12 2010 4 109 89 93

The task of trajectory construction for mobile robot motion with obstacle avoiding is considered. The base of proposed algorithm to solve this task is the analysis of geodesic lines which are built on 3D modeling smooth surface which approximates the relief of the motion space.

 mobile robots trajectory construction obstacle avoiding geodesic lines