Simple 2-D navigation for wheeled vehicles

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

OSTI ID:6636011

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 expanded to apply to 3- and 4-wheeled vehicles with ''conventional'' steering mechanisms (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: 6636011
• Report Number(s): SAND-88-0540; CONF-880689-1; ON: DE88008963
• Resource Relation: Conference: 15. AUVS annual technical symposium, San Diego, CA, USA, 6 Jun 1988; Other Information: Portions of this document are illegible in microfiche products
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
42 ENGINEERING
COMPUTERIZED CONTROL SYSTEMS
NAVIGATION
ALGORITHMS
GEOMETRY
ROBOTS
TWO-DIMENSIONAL CALCULATIONS
VEHICLES
CONTROL SYSTEMS
MATHEMATICAL LOGIC
MATHEMATICS
990220* - Computers
Computerized Models
& Computer Programs- (1987-1989)
420200 - Engineering- Facilities
Equipment
& Techniques