This paper describes a simple algorithm to perform navigation in a two-dimensional world model. The algorithm utilizes a simple geometric approach which is first applied to a bicycle. The equations are then expeanded to apply to 3- and 4-wheeled vehicles with 'conventional' steering mechanism (such as the Ackerman steering geometry in the 4-wheeled case). Calculations for omnidirectional robots which utilize differential odometry and differential drive are described as well. Practical considerations and sources of error are discussed, as are possible extensions of this method to a three-dimensional world model. 5 refs., 8 figs. (ERA citation 13:030850)


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    Title :

    Simple 2-D Navigation for Wheeled Vehicles


    Contributors:

    Publication date :

    1988


    Size :

    20 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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