Although recent progress in 2D mobile robot navigation has been significant, the great majority of existing work focuses only on ensuring that the robot reaches its goal. But to make autonomous navigation truly successful, the “quality” of planned motion is important as well. Here, we develop and analyze a pose-following kinematic control law applicable to unicycle-type robots, such that the robot can generate intuitive, fast, smooth, and comfortable trajectories.
['Jong Jin Park', 'Benjamin Kuipers']
A smooth control law for graceful motion of differential wheeled mobile robots in 2D environment