2013/03/20 by Salah Laghrouche, Laghrouche, Salah, Mohamed Harmouche +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Spacecraft Dynamics and Control
paper · pdf · doi:10.48550/arxiv.1303.5127
openalex publication_date 2013/03/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we have studied the control problem of target-point based path\nfollowing for car-type vehicles. This special path following task arises from\nthe needs of vision based guidance systems, where a given target-point located\nahead of the vehicle, in the visual range of the camera, must follow a\nspecified path. A solution to this problem is developed through a non linear\ntransformation of the path following problem into a reference trajectory\ntracking problem, by modeling the target point as a virtual vehicle. Bounded\nfeedback laws must be then used on the real vehicle's angular acceleration and\nthe virtual vehicle's velocity, to achieve stability. The resulting controller\nis globally asymptotically stable with respect and the proof is demonstrated\nusing Lyapunov based arguments and a bootstrap argument. The effectiveness of\nthis controller has been illustrated through simulations.\n