Experiments concerning the application of a real-time trajectory planning algorithm to a unicycle-like mobile robot have been conducted (in the LAI Lab of the University of Cassino). In respect of the kinematic constraints (limited velocity and acceleration), the desired path has to be kept as long as possible. A fuzzy inference system handles path information in order to give to the vehicle safe behaviors such as slowing down when approaching a narrow band.
Moreover, experiments concerning odometry calibration based on the least-squares technique have been conduced both with a mobile robot Magellan-pro and a mobile robot Khepera II (manufactured by K-team).