Low Error Path Planning for a Synchro-Drive Mobile Robot

Miller, David P. and Koushik, Prabhakar M. (1986) Low Error Path Planning for a Synchro-Drive Mobile Robot. Technical Report TR-86-28, Computer Science, Virginia Polytechnic Institute and State University.

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Abstract

A path-planning system is presented which, given any points, calculates a low-error path for a synchro-drive robot. The path reduces dead-reckoning errors by using gentle, constant curvature turns for switching directions of the robot's travel---yet direct and minimal length travel are maintained. The system has been implemented and tested with a Vectrobot mobile platform.

Item Type:	Departmental Technical Report
Subjects:	Computer Science > Historical Collection(Till Dec 2001)
ID Code:	35
Deposited By:	User autouser
Deposited On:	03 November 2005