A Guiding Vector-Field algorithm for path-following control of nonholonomic mobile robots

Yuri A. Kapitanyuk, Anton V. Proskurnikov, Ming Cao

Research output: Contribution to journalArticleScientificpeer-review

27 Citations (Scopus)
14 Downloads (Pure)

Abstract

In this paper, we propose an algorithm for path-following 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 nonlinear motion controller is then proposed, which steers the robot along such an integral curve, bringing it to the desired path. We establish global convergence conditions for our algorithm and demonstrate its applicability and performance by experiments with wheeled robots.

Original languageEnglish
Pages (from-to)1372-1385
JournalIEEE Transactions on Control Systems Technology
Volume26
Issue number4
DOIs
Publication statusPublished - 2018

Keywords

  • Mobile robot
  • motion control
  • nonlinear systems
  • path following
  • vector field guidance

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