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New Approach for Mobile Robot Path Planning

This paper presents a method of time optimal path planning under kinematic, limit heat characteristics of DC motor and dynamic constrain for a 2-DOF wheeled. Firstly the shortest path is planned by using the geometric method under kinematic constraints. Then, in order to make full use of motors capacity we have the torque limits under limit heat characteristics of DC motor, finally the velocity limit and the boundary acceleration (deceleration) are determined to generate a time optimal path.