Guiding vector field algorithm for a moving path following problem
Yuri A. Kapitanyuk (Rijksuniversiteit Groningen)
Hector Garcia de Marina (Université de Toulouse)
Anton V. Proskurnikov (Russian Academy of Sciences, TU Delft - Team Tamas Keviczky, ITMO University)
Ming Cao (Rijksuniversiteit Groningen)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
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.