Programming an Autonomous Mini-vehicle in Narrow Environments

In order for a mini-vehicle to accurately follow a trajectory with a constant velocity even while avoiding an obstacle, the transition between driving straight ahead and making a turn is realized by driving along a clothoid arc. In narrow environments the generated trajectory requires a higher number of maneuvers in order to avoid the obstacles placed in the environment. In this paper is presented the hardware structure of a mini-vehicle with two electric servomotors and an algorithm developed for achieving an autonomous mini-vehicle that allows to accurately establish the speed with which the car is going to travel, calculate the distances between specific points of the trajectory and the necessary time required to reach transitional or final targets.