Abstract
Autonomous Ground Vehicles (AGVs) have been the topical area in the recent past in which the researchers are working to enhance the intelligence of the vehicles for different applications. This chapter provides the importance of kinematic and dynamic constraints in a path planning module for AGVs. The kinematic and dynamic models are taken into account to model the actual mobile robot including the torques provided by the motors and the restriction to the robot mobility induced by the constraints. Result discusses the importance of the model in the path planning module. The model of the mobile robot is compared with the behaviour of a Pioneer 3DX robot.
“Based on Dynamic Model of Autonomous Ground Vehicle for the Path Planning Module, by Sobers L.X. Francis et al., which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). © 2011 IEEE.”
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Francis, S.L.X., Anavatti, S.G., Garratt, M. (2013). Model Based Path Planning Module. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_6
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DOI: https://doi.org/10.1007/978-3-642-37387-9_6
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