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Implementation of motion planning and active force control to a virtual wheeled mobile robot by Tang, Howe Hing

Published 2004
“…The developed simulator may serve as a virtual testbed for the repetitive experimentation of the proposed mobile robot control scheme within a specified workspace or layout. The motion path planning is based on the A*heuristic search algorithm with a specific reference to the sixelementary jumps graph for the generation of a nonholonomic global collision-free path environment. …”

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