Takao Noguchi

Papers

Total Citations

1,669

H-Index

About

Takao Noguchi is a leading figure in the field of nonholonomic robotics, with a primary focus on the stability and control of autonomous mobile robots. His most significant contribution is the development of a stable tracking control method for nonholonomic vehicles, a breakthrough that has garnered over 1,400 citations. In this seminal 2002 work, Noguchi introduced a control rule that uses a Lyapunov function to guarantee stability, allowing a robot to reliably track a reference posture and velocity. This foundational research, which he further refined in a companion paper (250 citations), provides a mathematically rigorous framework for controlling wheeled robots that cannot move sideways—a classic challenge in robotics. By defining three key parameters (Kx, Ky, Kθ), his method offers a practical, tunable solution for engineers. Noguchi’s work is a cornerstone for researchers in mobile robot navigation and control, and his contributions remain essential reading for anyone seeking to understand the principles of stable, autonomous locomotion.