A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots
نویسندگان
چکیده
منابع مشابه
A guiding vector field algorithm for path following control of nonholonomic mobile robots
In this paper we propose an algorithm for pathfollowing control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot’s kinematic model, we design a GVF, whose integral curves converge to the trajectory. A...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2018
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2017.2705059