Motion planning on mobile robots using differential flatness

A solution for the trajectory tracking in a non holonomic vehicles, descript as mobile robot is presented in this article. Using boundary values, the desired trajectories are parameterized in a polynomial through a point to point tracking algorithm. The system is driven by the trajectory applying the Differential Flatness properties, which calculates the input values necessaries to perform the trajectory. In order to evaluate the tracking, are applied polynomial and trigonometric trajectories, and is presented that the vehicle made the path analogous to the trajectory with a deviation along the movement, this deviation are related with the nature of the equations that define the path.