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 Bézier 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.