This video shows a local planner for robots with large independently steerable wheels. Common path following approaches do not consider steering constraints. This leads to unsmooth driving behavior, especially for robots with large wheels that have a low steering velocity. Here, we present two approaches to incorporate steering constraints to solve this issue.
Smooth Local Planning Incorporating Steering Constraints
This video shows a local planner for robots with large independently steerable wheels. Common path following approaches do not consider steering constraints. This leads to unsmooth driving behavior, especially for robots with large wheels that have a low steering velocity. Here, we present two approaches to incorporate steering constraints to solve this issue.
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