2026 International Conference on Networks Computers and Communications (ICNCCom 2026)

The paper considers the problem of adaptive trajectory planning of an omnidirectional mobile robot in a dynamic environment. The proposed approach combines discrete global planning on a grid map with an obstacle inflation model, trajectory smoothing using the elastic band method, and kinematic tracking. The experiments confirmed the ability of the algorithm to effectively replan the path when obstacles appear and disappear without a complete recalculation of the route. The results obtained demonstrate high computational efficiency, smoothness of movement, and a significant safety margin. In particular, the minimum clearance along the final discrete path of 2.0 m demonstrates a significant safety margin with respect to obstacles. This meets the requirements of autonomous navigation within the framework of the Industry 5.0 concept, the development of modern technologies for the development of mobile robots.

Terms—adaptive planning, dynamic environment, Industry 5.0., modern technologies, mobile robot