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Abstract In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser
ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first,
and then the obtained kinematics 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 [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments.
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