  We study the navigation problem for a robot moving amidst static and dynamic
obstacles and rely on a hierarchical approach to solve it. First, the reference
trajectory is planned by the safe interval path planning algorithm that is
capable of handling any-angle translations and rotations. Second, the path
following problem is treated as the constrained control problem and the
original flatness-based approach is proposed to generate control. We suggest a
few enhancements for the path planning algorithm aimed at finding trajectories
that are more likely to be followed by a robot without collisions. Results of
the conducted experimental evaluation show that the number of successfully
solved navigation instances significantly increases when using the suggested
techniques.
