A new feedback control model is provided that allows a wheeled vehicle to follow a prescribed path. Differently from all other methods in the literature, the method that is proposed neither requires the computation of a projection of the robot position on the path, nor does it need to consider a moving virtual target to be tracked. Nevertheless, it guarantees asymptotic convergence to a generic 2-D curve which can be represented through its implicit equation in the form f(x, y) = 0, and it puts no bounds on the initial position of the vehicle provided that grad f be nonzero.
Path following for unicycle robots with an arbitrary path curvature
MORRO, ANGELO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2011-01-01
Abstract
A new feedback control model is provided that allows a wheeled vehicle to follow a prescribed path. Differently from all other methods in the literature, the method that is proposed neither requires the computation of a projection of the robot position on the path, nor does it need to consider a moving virtual target to be tracked. Nevertheless, it guarantees asymptotic convergence to a generic 2-D curve which can be represented through its implicit equation in the form f(x, y) = 0, and it puts no bounds on the initial position of the vehicle provided that grad f be nonzero.
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