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Autonomous navigation framework for a car-like robot

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Figure

Figure 1: Picture of the real ackermann based robot available at the Mobile Robotics Laboratory at IRI.
Figure 2: Sketch of an ackermann based robot with all its main parameters.
Figure 4: Example of some trajectories with maneuvers that must be executed in order to reach the desired goal position
Figure 5: Example of some velocity profiles used to find the boundaries of the dynamic window for the translational velocity.
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