Path-following algorithm for mobile robots with non-holonomic constraints
Yanhong Li · Journal of Hefei University of Technology · 2010
The path-following problem is discussed for two-wheeled differential drive robot with non-holonomic constraints.By studying the trajectory of robot in a motion period and finding out the relationship between starting coordinate and end coordinate of robot,a new model is put forward.The slope algorithm is proposed for the arbitrary geometric path of robot.For the special case of arc path,curvature radius algorithm is proposed to further improve speed smoothness and tracking accuracy.