Autonomous path planning of differential drive robots for co-ordinate based navigation

This paper deals with automation in navigation of differential drive robots in workspaces like offices, restaurants, etc. by mapping the entire workspace onto the robots in the form of a fixed reference co-ordinate frame which can then be used for position control and navigation. Generally, co-ordinate based navigation means a predefined path and correcting the robot on each point along its trajectory; an advancement would be to allow robot to dynamically define its path and reach the destination, which has been described in this paper along with related derivations and general algorithm.