{'fraction_non_alphanumeric': 0.022549869904596703, 'fraction_numerical': 0.0, 'mean_word_length': 5.411111111111111, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation

This paper presents kinematic model of two configurations of a wheeled mobile robot. Two-wheeled robot with castor and four-wheeled robot are considered for modeling. Kinematic equations, modeled in MATLAB/Simulink, represent the position and angle of the mobile robots. Simulation results illustrate the actual trajectory followed by the `soft' robot. The potential use of the derived kinematic model is two folds; in research as well as in academia. The model can be employed to test and validate advanced algorithms related with mobile robots e.g. for collision avoidance, path-planning, navigation etc while in an educational environment, it can assist students to study the behavior and nonholonomic constraints of their robots prior to their fabrication for competitions. As a case study to demonstrate the application of the developed model, the present research proposed a novel collision avoidance algorithm named as Intelligent Bug Algorithm (IBA). Preliminary comparative results dictate that IBA outperforms the reported Bug algorithms.