#### Gürkan Küçükyıldız, Suat Karakaya

In this study, a point stabilization scheme which takes into account static obstacles around wheeled mobile robots is proposed. Novelty of the algorithm lies under the consideration of the static obstacles and corporation with the static path planning method exact Euclidian distance transform (EEDT). For a given start point, goal point and static obstacle configuration, the EEDT algorithm determines the shortest path. This path is in an open-polygonal form due to the robot’s grid-based workspace. Tangent values of each vertex of the open-polygon are given to conventional model prediction control (MPC) based posture stabilization scheme as sub-start and sub-goal points. These sub points are given to MPC in a shiftedhorizon strategy to determine the stabilized trajectories between the vertex coordinates. Overall stabilized static trajectory is determined by combining the sub-trajectories independently calculated by MPC based posture stabilization algorithm. The experimental results which are performed in a 3D virtual reality interface, confirms that the developed scheme satisfies the posture stabilization criterion successfully in presence of static obstacles.