Path following through reference points for a car-like mobile robot

Abstract

In this paper a solution for the problem of following paths defined by reference points for a car-like mobile robot is addressed. The proposed control law is a linearizing state feedback for the rotational kinematics of the mobile robot. The orientation error is defined in such a way that it remains in the interval greater than or equal minus one hundred eighty degrees and smaller than one hundred eighty degrees in order to avoid the unwinding phenomena. The efficiency of the proposed control strategy is verified through numerical simulations.