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.

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots / Kapitanyuk, Yuri A.; Proskurnikov, Anton V.; Cao, Ming. - In: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. - ISSN 1063-6536. - STAMPA. - 26:4(2018), pp. 1372-1385. [10.1109/TCST.2017.2705059]

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

Proskurnikov, Anton V.;
2018

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2726141
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