# Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree

> Research article (International Journal of Advanced Robotic Systems, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3176821999](https://www.wikidata.org/wiki/openalex:W3176821999)  
**Source**: https://4ort.xyz/entity/collision-free-and-dynamically-feasible-trajectory-planning-for-omnidirectional-mobile-robots-using-a-novel-b-spline-bas