Path Curvature Sensing Methods for a Car-like Robot
نویسنده
چکیده
In this reserach we present path curvature sensing methods for a carlike robot, which can be applied to motion planning and motion control. Toward this goal, we use a steering wheel angle sensor and two encoders on the rear wheels in the robot. We then demonstrate two curvature sensing methods using a steering map and wheel odometry at the rear axle. Finally, experimental results are presented and discussed.
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