Guidance-based Path following for Wheeledmobile Robots
نویسندگان
چکیده
This paper addresses the problem of path following for wheeled mobile robots (WMRs) by utilizing a novel guidance-based approach. The guidance laws are developed at an ideal, dynamics-independent level, entailing generically valid laws not influenced by particular peculiarities relating to any given dynamics case. Hence, the resulting guidancebased framework is equally applicable to any planar dynamic system. A nonlinear modelbased controller is then designed for an underactuated WMR to enable it to comply with the guidance commands, yielding a UGAS/ULES closed loop system. Simulation results demonstrating the capability of the proposed guidance and control scheme are successfully carried out for a unicycle-type WMR. Copyright c ° 2005 IFAC
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