A minimalist feedback control for path tracking in Cartesian space

Authors:
Antonio Sgorbissa;Renato Zaccaria
Affiliations:
DIST, University of Genova, Genova, Italy;DIST, University of Genova, Genova, Italy
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 2
Cited 1

Planning Algorithms

Planning Algorithms
A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

A Lyapunov-stable, sensor-based model for real-time path-tracking among unknown obstacles

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

The article proposes a new feedback control model that allows to track a generic curve in the Cartesian Space expressed through its implicit equation, and has minimal requirements in terms of measurement and computation capabilities. The model measures only the distance between the vehicle and the path, whereas it ignores the vehicle's orientation. In spite of this, it allows to regulate to zero both the distance to the path and the difference between the vehicle's orientation and the tangent to the curve, and it is asymptotically stable.