Publication: Motion Planning Of Differential Drive Mobile Robot By Circular Arc And Spiral Arc Trajectories
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Date
2025-01
Authors
Zakaria, Wan Zafira Ezza Wan
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Abstract
In today’s world, mobile robots are essential tools capable of moving from one location to another. Motion planning, a critical task for these robots, has garnered extensive attention, particularly in sensor-based applications. However, robots that do not rely on sensor data pose significant research challenges, as continuously adjusting their movements to follow a predefined path becomes difficult. This work focuses on employing computer-aided geometric design (cagd) for sensorless motion planning as an effective curve computation technique. In this study, we present a sensorless motion planning method for differential drive mobile robots (ddmrs), considering scenarios where the start point, endpoint, and initial direction are known. Ddmrsare widely used in various applications due to their reliability and ease of use. They achieve mobility by distributing velocity between their left and right wheels, determined by the curvature value. Our study outlines a method for constructing and connecting arcs between points, focusing on two types of arcs which are circular arcs and clothoids. Circular arcs are defined by parametric equations describing their circular form, while clothoids are characterized through fresnel integrals.
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Mobile robotics