Guiding vector field algorithm for a moving path following problem
Yuri A. Kapitanyuk (Rijksuniversiteit Groningen)
Hector Garcia De Garcia de Marina (Université de Toulouse)
A. V. Proskurnikov (ITMO University, Russian Academy of Sciences, TU Delft - Team Tamas Keviczky)
Ming Cao (Rijksuniversiteit Groningen)
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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.