Miller, David P.Koushik, Prabhakar M.2013-06-192013-06-191986http://hdl.handle.net/10919/19768A path-planning system is presented which, given any points, calculates a low-error path for a synchro-drive robot. The path reduces dead-reckoning errors by using gentle, constant curvature turns for switching directions of the robot's travel---yet direct and minimal length travel are maintained. The system has been implemented and tested with a Vectrobot mobile platform.application/pdfenIn CopyrightTechnical reportTR-86-28http://eprints.cs.vt.edu/archive/00000035/01/TR-86-28.pdf