This paper proposes a kinematics path-following algorithm that drives a unicycle-type robot to a desired path, respecting velocity saturation constraint on the actuators. The solution, based on an extension of a globally convergent non-singular path following solution, is formally shown. Simple conditions for the selection of the gains are provided.
Non-Singular Path-Following Control of Wheeled Robots with Actuator Velocity Saturations
G. INDIVERI
2007-01-01
Abstract
This paper proposes a kinematics path-following algorithm that drives a unicycle-type robot to a desired path, respecting velocity saturation constraint on the actuators. The solution, based on an extension of a globally convergent non-singular path following solution, is formally shown. Simple conditions for the selection of the gains are provided.
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