Path Following of Mobile Robots Using a Virtual Vehicle Approach

Abstract

Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is established. Firstly, path following is given a new formulation, considering geometry constraints of planar curves. Secondly, the notion of virtual vehicle is applied, making exact linearization realizable. A control law with simple form is deduced, which is proved to be applicable by simulation results.