This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path-following control design relies on Lyapunov theory, backstepping techniques and deals explicitly with vehicle dynamics. Furthermore, it overcomes the initial condition constraints present in a number of path-following control strategies described in the liter...

In this paper, the path following control of a spherical robot rolling without slipping on an inclined plane is discussed. We first study the kinematic constraints of the spherical robot and develop the dynamic model of the robot through the constrained Lagrange method. We then present a state space realization of this constrained system through the null space method and using nonlinear feedbac...

In this paper, we present a novel solution for a path following problem in partially-known static environments. Given linearized error dynamic equations, model predictive control (MPC) is employed to produce a sequence of angular velocities. Since the forward velocity of the robot has to be adapted to environmental constraints and robot dynamics while the robot is following a path, we propose a...