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A novel method for prediction of mobile robot maneuvering spaces
2013
Journal of terramechanics
As the operational uses of mobile robots continue to expand, it becomes useful to be able to predict the admissible maneuvering space to prevent the robot from executing unsafe maneuvers. A novel method is proposed to address this need by using force-moment diagrams to characterize the robot's maneuvering space in terms of path curvature and curvature rate. Using the proposed superposition techniques, these diagrams can then be transformed in real-time to provide a representation of the
doi:10.1016/j.jterra.2013.03.001
fatcat:o7rvqcbkifgerp2wigmfdkatce