Open access
2026
GAR-Tracker: Target-Visible Trajectory Planning for a Ground Assistant Robot
This paper proposes a Bernstein polynomial motion primitive (BPMP)-based sample–check–select approach for differential-drive robots that handle both unstructured and dynamic obstacle scenarios effectively and explicitly accounts for the effect of the trajectory on the heading direction and its impact on tracking perfor...
Seung-Woo Jung, Sang-Jin Han, Seungyeon Yoo et al.
· IEEE Access · 0 citations