Modern approaches to mobile robot navigation typically employ a two-tiered system where
first a geometric path is computed in a potentially obstacle-laden environment, and then a …

Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road
autonomy applications. When turning at high speeds, these robots tend to undergo …

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D
planar workspaces can be divided into free spaces and obstacles. However, recent wheeled …

Traditional control and planning algorithms for wheeled mobile robots (WMR) either totally
ignore or make simplifying assumptions about the effects of wheel slip on the motion. While …

In recent years, the navigation capabilities of mobile robots in off-road environments have
increased significantly, opening up new potential applications in a variety of settings. By …

Collision risk and smoothness are the most important factors in global path planning.
Currently, planning methods that reduce global path collision risk and improve its …

Wheeled Robots (WRs) are widely used in many different contexts, and usually they are
required to operate in partial or total autonomy. In particular, in a wide range of situations …

This article presents the work towards a purely generic navigation solution for wheeled
mobile robots motivated by the following goals: Generic: Works for different types of robots …

This work presents a model based traversability analysis method which employs a detailed
vehicle model to perform real-time path planning in complex environments. The vehicle …

Abstract We present GeRoNa (Generic Robot Navigation), a modular navigation framework
for wheeled mobile robots. This framework supports many different kinematic configurations …