Date of Award

Spring 3-2018

Document Type


Degree Name

Master of Science in Engineering Management (MSEM)


Engineering Management


This thesis presents a straight forward method for developing time-dependent trajectories with smooth paths for mobile robots. Cubic Bezier curves are utilized to efficiently generate segments of complex paths with associated linear and angular velocity profiles. The speeds along the path are planned considering the kinematic and dynamic constraints of a typical differential drive mobile robot. A PID controller was developed to control for both path following and the timing constraints of the generated trajectories. This research was developed to aid in the KoRRund project in testing their radar system’s accuracy in detecting objects at a specific time and space and their measured velocity. These readings would then be compared to the known trajectory of the mobile robot. The AGV mobile robot developed by InMach and Adlatus Robotics was used in the physical testing of this research. Autonomous ground vehicle