An improved method of Frenet-Serret based guidance of a non-holonomic WMR

Abstract

This paper deals with an improved method of guidance for 2D trajectory tracking by a mobile robot using Frenet-Serret vectors at variable sampling rate. The state space kinematic model of a non-holonomic differential drive wheeled mobile robot has been used. Curvature based variable sampling minimizes the quantization error and improves accuracy of the followed trajectory. It has been shown that maximum utilization of the computational resource may be achieved by this method for embedded controllers having limited memory.