Guiding vector field algorithm for a moving path following problem

Guiding vector field algorithm for a moving path following problem

Kapitanyuk, Yuri A. (Rijksuniversiteit Groningen)
Garcia de Marina, Hector (Université de Toulouse)
Proskurnikov, A.V. (TU Delft Team Tamas Keviczky; ITMO University; Russian Academy of Sciences)
Cao, Ming (Rijksuniversiteit Groningen)

Dochain, Denis (editor)
Henrion, Didier (editor)
Peaucelle, Dimitri (editor)

2017

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.

guiding vector field
mobile robot
motion control
nonlinear systems
Path following

http://resolver.tudelft.nl/uuid:fcb5b12e-0d8d-4c11-9529-d7c646cbfb44

https://doi.org/10.1016/j.ifacol.2017.08.1340

Elsevier, Laxenburg, Austria

IFAC-PapersOnLine: Proceedings 20th IFAC World Congress, 50-1

20th World Congress of the International Federation of Automatic Control (IFAC), 2017, 2017-07-09 → 2017-07-14, Toulouse, France

IFAC-PapersOnLine, 50 (1)

Institutional Repository

conference paper

© 2017 Yuri A. Kapitanyuk, Hector Garcia de Marina, A.V. Proskurnikov, Ming Cao