Computation of trajectories for autonomous robots

The aim of this work is to propose an efficient strategy for an intelligent wheelchair to pass through a narrow doorway. Where the actual trajectory has to be smooth without oscillating and the curvature of the trajectory need to be limited. To achieve our requirements, we have used B zier Curve as a powerful and efficient tool has been widely used in computer graphics, animation and fonts because of its capacity of smoothing. And then the Constrained Optimization Problem.