Path following for a target point attached to a unicycle type vehicle

摘要

In this article, we address the control problem of unicycle path following,using a rigidly attached target point. The initial path following problem hasbeen transformed into a reference trajectory following problem, using saturatedcontrol laws and a geometric characterization hypothesis, which links thecurvature of the path to be followed with the target point. The proposedcontroller allows global stabilization without restrictions on initialconditions. The effectiveness of this controller is illustrated throughsimulations.