Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle
نویسندگان
چکیده
We consider the kinematic model of vehicle moving forward with a lower bounded turning radius. This model, sometimes referred to as \Dubins' vehicle", is relevant to the kinematics of road vehicles as well as aircraft cruising at constant altitude, or sea vessels. We consider the optimal control problem consisting of minimizing the length travelled by the vehicle starting from a generic con guration to connect to a speci ed route. A feedback law is proposed, such that straight routes can be approached optimally, while system is asymptotically stabilized. Experimental results are reported showing real{time feasibility of the proposed approach.
منابع مشابه
Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle
The design of control techniques for nonholonomic vehicles is a topic of extensive research (see e.g. [1], [2], [3], [4]). For nonholonomic systems, the problem of tracking a path is simpler in principle than stabilizing to a point. By \path" we refer to a curve (with some regularity requirements) in the plane were the vehicle moves. See [6], [7], [8], for path following controllers. Besides th...
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