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- W2113998889 abstract "Presents a method that combines the path planning and the steering control of autonomous mobile robots (AMR) in uncertain environments. The two problems are solved independently, using off-line and on-line procedures respectively, the link between them being established by a set of critical points defined along the trajectory. The path planner evaluates these points by modeling the free space using a quadtree. The steering control algorithm derives the local feedback control to guide the AMR through a collision-free trajectory. The approach taken considers a modification of the generalized potential field technique leading to improvements in the motion smoothness and in the trajectory local optimization. Simulation results are presented. >" @default.
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- W2113998889 date "2002-12-04" @default.
- W2113998889 modified "2023-09-22" @default.
- W2113998889 title "An algorithm for the steering control of mobile robots" @default.
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- W2113998889 doi "https://doi.org/10.1109/iros.1990.262496" @default.
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