Simple Path Planning Algorithm for Two-Wheeled Differentially Driven (2WDD) Soccer Robots
نویسندگان
چکیده
Well designed path planning algorithms are the key factor for moving robots. This paper describes a novel simple approach based on kinematics. The testing bed is a tiny two-wheeled robot. The robot’s movement is specified by its translatoric velocity vR and its angular velocity ωR. The kinematic approach generates piecewise circular arcs based on a number of possible different sets of boundary conditions in the target positions.
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