Controlling a mobile robot along Euler’s elasticae

In this paper, we consider the problem of controlling a wheeled robot on a flat surface without obstacles. Arduino platform is a basis of the robot. We investigate the class of optimal controls that first appeared in the classical Euler's elastic problem. Finally, we present several examples of movement of the robot along Euler's elasticae and study the problem of trajectory avoidance from elasticae and possible ways to solve it.