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This paper deals with the problem of collision course checking between objects moving in a two-dimensional working space. A relative kinematics system is derived, and a transformation of coordinates is applied to simplify the problem. Under this formulation, the collision course checking problem is studied in an equivalent virtual plane, where the collision course problem between two moving objects...
This paper suggests a method for autonomous wheeled mobile robots navigation under the nonholonomic constraint. The suggested method uses navigation functions that are based on the polar kinematics equations, where the steering angle and the orientation angle of the robot are included in an exponential function of the line of sight angle. Another control law is suggested for the robot's linear velocity...
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