In this paper, the development of an unmanned autonomous forklift is discussed. A control architecture using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematic of spin-turn mechanism is analyzed first, and then the obtained kinematic equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry is derived. The effectiveness of the proposed control law is examined through simulation.
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