Hybrid feedback control for path tracking with a bounded { curvature vehicle ?

Abstract

The design of control techniques for nonholonomic vehicles is a topic of extensive research (see e.g. [1], [2], [3], [4]). For nonholonomic systems, the problem of tracking a path is simpler in principle than stabilizing to a point. By \path" we refer to a curve (with some regularity requirements) in the plane were the vehicle moves. See [6], [7], [8], for… (More)

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