The VFO path-following kinematic controller for robotic vehicles moving in a 3D space

@article{x0141akomy2017TheVP,
  title={The VFO path-following kinematic controller for robotic vehicles moving in a 3D space},
  author={Krzysztof x0141akomy and Maciej Marcin Michax0142ek},
  journal={2017 11th International Workshop on Robot Motion and Control (RoMoCo)},
  year={2017},
  pages={263-268}
}
The Vector-Field-Orientation (VFO) methodology was applied and experimentally tested so far for the planar wheeled robots. The main contribution of this paper is an extension of the VFO path following controller to the class of mobile robots moving in the three-dimensional space. Path following problem is most commonly defined for the parametrized curves, what usually leads to the necessity of calculation of the closest distance to the path and forces serious limitations of the initial robot… CONTINUE READING