Motion planning on mobile robots using differential flatness

Elkin Y. Veslin, Jules Slama, Max Suell Dutra, Omar Lengerke

Research output: Articles / NotesScientific Articlepeer-review

10 Scopus citations


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.

Original languageEnglish
Article number6129695
Pages (from-to)1006-1011
Number of pages6
JournalIEEE Latin America Transactions
Issue number7
StatePublished - Dec 2011


  • Flat systems
  • Mobile robots
  • Non holonomic systems
  • Point to point tracking
  • Trajectory generation


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