# Path planning of wheeled robot [duplicate]

let's say the robot Looks like this (an usual robot arm with 4 wheels) :

In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position x_goal. At the end, the robot would be at the position x_goal.

But the Question is how to set this x_goal. If the robot doesnt have an arm, then x_goal is equal to the position that the robot has to be there. But since the robot has an arm, x_goal must takes account the reachability and singularity of the arm.

What would be the most common/efficient way to estimate this x_goal in this case?

• Welcome to Robotics, Joe. I think this question is a duplicate of another question I answered in quite a lot of detail previously, so I'm going to mark this question as a duplicate and close it. If the answer there doesn't answer your question, please edit your question to explain what is still giving you trouble and we can reopen this question and try to address those problems. – Chuck Jan 3 '19 at 13:57
• The brief overview of the answer there is that you need to modify your $x_{goal}$ position to get the arm (it was a beacon in the other question) to the target position. There are several graphics at the other answer that hopefully make everything clear. – Chuck Jan 3 '19 at 14:00