'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
Akhtar, A., Nielsen, C., & Waslander, S. L. (2015). Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Transactions on Robotics, 31(2), 269–279. https://doi.org/10.1109/TRO.2015.2395711This paper presents an approach for designing path
following controllers for the kinematic model of car-like mobile
robots using transverse feedback linearization with dynamic
extension. This approach is applicable to a large class of
paths and its effectiveness is experimentally demonstrated on a
Chameleon R100 Ackermann steering robot. Transverse feedback
linearization makes the desired path attractive and invariant
while the dynamic extension allows the closed-loop system to
achieve the desired motion along the path.Partially supported by the Natural Sciences and Engineering Research
Council of Canada (NSERC
