Abstract
A heuristic path following algorithm for wheeled mobile robots is presented. This approach is based on the orthogonal projection to the path and exponential functions for lateral and longitudinal control. It allows smooth and stable navigation in dynamic and cluttered environments, and does not depend on the robot’s kinematics. The results are experimentally demonstrated using three different kinematic configurations: omnidirectional, Ackermann- and two-steering.
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Acknowledgements
Goran Huskić would like to thank the German Academic Exchange Service (DAAD) for his Ph.D. scholarship.
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Huskić, G., Buck, S., Zell, A. (2017). A Simple and Efficient Path Following Algorithm for Wheeled Mobile Robots. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_27
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DOI: https://doi.org/10.1007/978-3-319-48036-7_27
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