Simple 2-D navigation for wheeled vehicles

Conference · Fri Jan 01 00:00:00 EST 1988

OSTI ID:5249972

Klarer, P R

This paper describes a simple algorithm to perform navigation in a two-dimensional world model. The algorithm utilizes a simple geometric approach which is first applied to a bicycle. The equations are then expeanded to apply to 3- and 4-wheeled vehicles with ''conventional'' steering mechanism (such as the Ackerman steering geometry in the 4-wheeled case). Calculations for omnidirectional robots which utilize differential odometry and differential drive are described as well. Practical considerations and sources of error are discussed, as are possible extensions of this method to a three-dimensional world model. 5 refs., 8 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 5249972
• Report Number(s): SAND-88-0540C; CONF-880689-1; ON: DE88007115
• Resource Relation: Conference: 15. AUVS annual technical symposium, San Diego, CA, USA, 6 Jun 1988
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
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ALGORITHMS
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VEHICLES
MATHEMATICAL LOGIC
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