# 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?

## marked as duplicate by Chuck♦Jan 3 at 14:01

• 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 at 14:00