In this paper, we have studied the control problem of target-point based pathfollowing for car-type vehicles. This special path following task arises fromthe needs of vision based guidance systems, where a given target-point locatedahead of the vehicle, in the visual range of the camera, must follow aspecified path. A solution to this problem is developed through a non lineartransformation of the path following problem into a reference trajectorytracking problem, by modeling the target point as a virtual vehicle. Boundedfeedback laws must be then used on the real vehicle's angular acceleration andthe virtual vehicle's velocity, to achieve stability. The resulting controlleris globally asymptotically stable with respect and the proof is demonstratedusing Lyapunov based arguments and a bootstrap argument. The effectiveness ofthis controller has been illustrated through simulations.
展开▼
