Path-following with a bounded-curvature vehicle: a hybrid control approach

@inproceedings{Balluchi2005PathfollowingWA,
  title={Path-following with a bounded-curvature vehicle: a hybrid control approach},
  author={Andrea Balluchi and Antonio Bicchi and Philippe Sou{\`e}res},
  year={2005}
}
In this paper, we consider the problem of stabilizing the kinematic model of a car to a path in the plane under rather general conditions. The path is subject to very mild restrictions, while the car model, although rather simplified, contains the most relevant limitations inherent in wheeled robots kinematics. Namely, the car can only move forward, its steering radius is lower bounded and a limited sensory information only provides a partial knowledge of some state parameters. In particular… CONTINUE READING

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