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 and the robot's kinematic model, we design a...

Guiding vector field algorithm for a moving path following problem

This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve...