Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels
This paper studies the problem of motion planning of wheeled mobile robot (WMR), which is driven by double wheels separately. It mainly accomplish the motion planning of WMR by taking center of one of double wheels as a base point, and also carry out this problem by traditional method, which takes the midpoint of interval between two wheels as a base point. Besides, these two motion planning methods are compared. Experimental results show that the first motion planning method is simply controlled, saves much computer time and it establishes the foundation to solve the problem of real time control to WMR.
Guanglin Wang, Huifeng Wang and Jun Liu
Z. M. Wang and B. Yan, "Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels", Key Engineering Materials, Vols. 392-394, pp. 777-780, 2009