Navigation and guidance of an intelligent mobile robot
Hu H., Gu D., Brady M.
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.