@article{MAKHILLAJIT20076115469,
    title = {Trajectory Planner for Mobile Robot with Avoidance of Obstacles Based on the Constraints Method and Heuristic Rules},
    journal = {Asian Journal of Information Technology},
    volume = {6},
    number = {11},
    pages = {1074-1082},
    year = {2007},
    issn = {1682-3915},
    doi = {ajit.2007.1074.1082},
    url = {https://makhillpublications.co/view-article.php?issn=1682-3915&doi=ajit.2007.1074.1082},
    author = {Guesbaya Tahar,Benmahammed Khier and},
    keywords = {Mobile robot,nonholonomic,planner,avoidance,constraints method,heuristic rules},
    abstract = {In this study, the aim is to present our contribution for the local planning of trajectory for nonholonomic mobile robot with avoidance of obstacles. This contribution is based on the constraintsmethod and some heuristics rules. The constraint method put some constraints on the permitted velocities of the mobile robot and obliges it to move away from the obstacles. The mobile robot possesses ultrasonic sensors to measure the minimal distance into the obstacles. Modeling the obstacles and sensors by convex polygons makes use of calculation methods of minimal distance easy. The simulation results show the suppleness with the mobile robot reach the target going across difficult path.}
    }