Simple Path Planning Algorithm for Two-Wheeled Differentially Driven (2WDD) Soccer Robots.

Abstract

Abstract — Well designed path planning algorithms are the key factor for mov-ing robots. This paper describes a novel simple approach based on kinematics. The testing bed is a tiny two-wheeled robot. The robot’s movement is specified by its translatoric velocity vR and its angular velocity ωR. The kinematic approach gener-ates piecewise circular arcs based on a number of possible different sets of boundary conditions in the target positions. 1