Abstract
This letter introduces a novel control framework for a unicycle model to generate an extensive set of motion patterns. With a set of design parameters, the proposed control law leads to Andronov–Hopf bifurcation in speed-scaled angular velocity space of the agent. Using the normal form theory, the generated patterns are shown to be identical to the parametric form of trochoid curves. Considering a comprehensive classification of the generated patterns, the limit cycle characteristics are used to deduce corresponding ranges of the design parameters.
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