Dynamic path following controllers for planar mobile robots

摘要

In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization
\nis an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and
\naugments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to
\ndesign path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the
\nclosed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration
\nprofile while moving along a path.