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This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonhonolomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.

Type

Conference paper

Publication Date

01/12/1997

Pages

104 - 111