Trajectory Planning for Nonholonomic Mobile Robot Using Extended Kalman Filter

Table 2

The timing of the logic codes.

Logic signal	Meaning	Duration	Time
𝐴𝐶	Logic level “1” with short duration	(1/2) clock	0,896 ms
𝐴𝐿	Logic level “1” with long duration	3(1/2) clock	6,272 ms
𝐵𝐶	Logic level “0” with short duration	(1/2) clock	0,896 ms
𝐵𝐿	Logic level “0” with long duration	3(1/2) clock	6,272 ms