Path Planning and Control of Mobile Robot in Road Environments Using Sensor Fusion and Active Force Control

A path planning and control approach of a non-holonomic three-wheeled mobile robot (WMR) for online navigation in road following and roundabout environments is presented in this paper. We proposed a complete navigation algorithm that enables the WMR to autonomously navigate on the road with various scenarios. With such an algorithm, the robot is able to localize itself within the road environment and find a collision free-path starting from a...