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LOCAL PATH PLANNING AND CONTROLS FOR MOBILE ROBOTS

Gu Dongbing Song Zhengxun(Changchun Institute of Opties and Fine Mechanics, Changchun, 130022)Hu Huosheng Brady Michael(University of Oxford)  
Presents a system for the local path planning and controls of mobile robots based on multiple sensor architecture. It includes a path generator expressed by a fifth order polynomial, a position estimator realized by extended Kalman filter (EKF), and a path controller implemented by the PI control strategy.
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