SMOOTH CONTROL PATH PLANNING AND TRACKING OF AN AUTONOMOUS MOBILE ROBOT IN REAL-TIME by KIRAN IYENGAR A thesis submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN SYSTEMS ENGINEERING 2015 Oakland University Rochester, Michigan APPROVED BY: Ka C. Cheok, Ph.D., Chair Date Andrew Rusek, Ph.D. Date Michael A. Latcha, Ph.D. Date