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

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 an...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2018-07, Vol.26 (4), p.1372-1385
Main Authors: Kapitanyuk, Yuri A., Proskurnikov, Anton V., Ming Cao
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Dynamics
Mathematical model
Mobile robot
Mobile robots
motion control
nonlinear systems
path following
Trajectory
vector field guidance
Vehicle dynamics
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Summary: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.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2017.2705059