Sinusoidal input-based visual control for nonholonomic vehicles

  title={Sinusoidal input-based visual control for nonholonomic vehicles},
  author={Miguel Aranda and Gonzalo L{\'o}pez-Nicol{\'a}s and Carlos Sag{\"u}{\'e}s},
  pages={811 - 823}
SUMMARY This paper proposes a new visual control approach based on sinusoidal inputs to be used on a nonholonomic robot. We present several contributions: In our method, developed considering a unicycle kinematic model, sinusoids are used in such a way that the generated vehicle trajectories are feasible, smooth and versatile. Our technique improves previous sinusoidal-based control works in terms of efficiency and flexibility. As further contributions, we present analytical expressions for the… 
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