Guiding vector field algorithm for a moving path following problem

Abstract : This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.
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Yuri A Kapitanyuk, Hector Garcia de Marina, Anton Proskunikov, Ming Cao. Guiding vector field algorithm for a moving path following problem. IFAC-PapersOnLine, Elsevier, 2017, 50 (1), pp.6983 - 6988. ⟨10.1016/j.ifacol.2017.08.1340⟩. ⟨hal-01627869⟩

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