Autonomous path planning of differential drive robots for co-ordinate based navigation
Sparsh Gupta · 2016
This paper deals with automation in navigation of differential drive robots in workspaces like offices, restaurants, etc. by mapping the entire workspace onto the robots in the form of a fixed reference co-ordinate frame which can then be used for position control and navigation. Generally, co-ordinate based navigation means a predefined path and correcting the robot on each point along its trajectory; an advancement would be to allow robot to dynamically define its path and reach the destination, which has been described in this paper along with related derivations and general algorithm.