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This paper presents a trajectory planning strategy of a four-wheeled mobile robot in an obstructed environment. Two 2-dimensional laser ranger finders are equipped on the mobile robot in order to perform sensor-based planning without any a priori knowledge about its environment. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted...
This paper presents a trajectory planning strategy of a wheeled mobile robot in an obstructed environment. In order to sense its surrounding environment, the mobile robot is assumed to be equipped with a laser range finder. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted to steer the mobile robot in which a reference point located...
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