Guiding vector field algorithm for a moving path following problem

Conference paper (2017)

Authors

Yuri A. Kapitanyuk Rijksuniversiteit Groningen
Hector Garcia de Marina Université de Toulouse
A.V. Proskurnikov ITMO University, Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering , Russian Academy of Sciences
Ming Cao Rijksuniversiteit Groningen
Research Group
Team Tamas Keviczky (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Yuri A. Kapitanyuk, Hector Garcia de Marina, A.V. Proskurnikov, Ming Cao
DOI
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https://doi.org/10.1016/j.ifacol.2017.08.1340
Nonlinear systems Motion control Path following Mobile robot Guiding vector field
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Published Date

2017

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Tamas Keviczky

Abstract

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 in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.