Low Error Path Planning for a Synchro-Drive Mobile Robot

Abstract

A path-planning system is presented which, given any points, calculates a low-error path for a synchro-drive robot. The path reduces dead-reckoning errors by using gentle, constant curvature turns for switching directions of the robot's travel---yet direct and minimal length travel are maintained. The system has been implemented and tested with a Vectrobot mobile platform.