Halitmi, HibaGuernane, Reda (supervisor)2023-06-062023-06-062020https://dspace.univ-boumerdes.dz/handle/123456789/1170147 p.This project is about kinodynamic planning for a three-wheeled omnidirectional mobile robot in a static environment. First we present the kinematics and dynamics of the robot, then we use those models to plan the trajectory of the robot in the state space using the RRT then the anytime RRT sampling-based algorithms. The algorithms are then implemented and tested on MATLAB.enMobile robotKinodynamic PlanningThesis