Reducing a class of polygonal path tracking to straight line tracking via nonlinear strip-wise affine transformation

@article{Moustris2008ReducingAC,
  title={Reducing a class of polygonal path tracking to straight line tracking via nonlinear strip-wise affine transformation},
  author={George Moustris and Spyros G. Tzafestas},
  journal={Mathematics and Computers in Simulation},
  year={2008},
  volume={79},
  pages={133-148}
}
In this paper a piecewise linear homeomorphism is p re ented that maps a strictly monotone polygonal ch in to a straight line. This mapping enables one to reduce the path trackin g task for mobile robots to straight line tracking. Due to the simplicity of the transformation, closed form solutions for the direc t and inverse mapping are presented. Furthermore, t he transformation also defines a feedback equivalence relation between the original and the transformed system equations of t he mobile… CONTINUE READING
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