Abstract
Building on previous work of Canudas de Wit et al. a nonlinear path following controller for the kinematic model of a car-like robot with bounded curvature is designed. Given a bounded curvature reference path and an upper bound on the maximum curvature that the robot is able to drive, the proposed feedback solution guarantees asymptotic convergence to the assigned path with a Lyapunov asymptotically stable error dynamics while always satisfying the curvature constraint. Thanks to the adaptive nature of the law, the controller gain tuning is made extremely easy and convergence speed is greatly improved with respect to the original fixed gain controller. Experimental tests have been performed on a differential drive mobile robot confirming the effectiveness of the solution.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
