Algorithms and Performance Analysis for Path Navigation of Ackerman-Steered Autonomous Robots

摘要

Autonomous robot navigation is one of the most important areas of robotics research. While waypoint-based navigation is well understood, particular design characteristics (e.g. steering mechanisms) of a robotic platform may render general navigation approaches inaccurate or ineffectual. In this paper, we develop a novel, deliberative-planning, waypoint-based robot navigation algorithm that allows accurate path following for Ackerman-steered vehicles. The algorithm is validated via simulation. Collected performance data provide insight on the relation of the algorithm to other mobility factors such as velocity.