Algorithms and performance analysis for path navigation of Ackerman-steered autonomous robots
G. Henson, M. Maynard, G. Dimitoglou, X. Liu · 2008
Autonomous robot navigation is one of the most important areas of robotics research. While waypoint-based navigation is well understood, particular design characteristics (e.g. steering mechanisms) of a robotic platform may render general navigation approaches inaccurate or ineffectual. In this paper, we develop a novel, deliberative-planning, waypoint-based robot navigation algorithm that allows accurate path following for Ackerman-steered vehicles. The algorithm is validated via simulation. Collected performance data provide insight on the relation of the algorithm to other mobility factors such as velocity.