Algorithms and performance analysis for path navigation of Ackerman-steered autonomous robots

Authors:
G. Henson;M. Maynard;G. Dimitoglou;X. Liu
Affiliations:
Hood College, Frederick, MD;Hood College, Frederick, MD;Hood College, Frederick, MD;Hood College, Frederick, MD
Venue:
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Year:
2008

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Abstract

Autonomous robot navigation is one of the most important areas of robotics research. While waypoint-based navigation is well understood, particular design characteristics (e.g. steering mechanisms) of a robotic platform may render general navigation approaches inaccurate or ineffectual. In this paper, we develop a novel, deliberative-planning, waypoint-based robot navigation algorithm that allows accurate path following for Ackerman-steered vehicles. The algorithm is validated via simulation. Collected performance data provide insight on the relation of the algorithm to other mobility factors such as velocity.