An algorithm for the steering control of mobile robots

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.<>