Here all paths for the robot are constructed by straight lines and circular arcs of the minimum turning radius of the robot.
As mentioned previously, car-like robots in general have limited steering angles which imposes a lower bound, min, on the turning radius.
Each path should have a lower-bounded turning radius (upper bounded curvature).
Most of the times, this algorithm allows multiagents to steer and move along the path with certain turning radius.
The latter includes features such as configuration, turning radius, manner of steering and kinematic constraints.
A total of 15 curvature candidates, considering the maximum turning radius, and 2 velocity candidates (0.2 m/s and 0.1 m/s) created 30 via-point candidates.
The arced axles allowed the board to lean at extreme angles and the angled mounting points created an adjustable turning radius.
The caster rotates perpendicular to the turning radius and provides a smooth turn.
