Design and Steering Control of a Center-Articulated Mobile Robot Module
Figure 7
(a) The robot’s workspace can be divided into four parts, considering the sign of and . The region where both and are positive is called safe region where the robot reaches the goal with no need to pass through the beacons. (b) A set of assumed via points in the workspace; the via points are reached in an order such that the robot is finally located in the safe region.
