A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints
Journal of Intelligent and Robotic Systems
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Pure-pursuit reactive path tracking for nonholonomic mobile robots with a 2D laser scanner
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
Predictive constrained gain scheduling For UGV path tracking in a networked control system
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Tracking control of a mobile robot with kinematic uncertainty using neural networks
ICONIP'06 Proceedings of the 13th international conference on Neural information processing - Volume Part III
Smooth kinematic controller vs. pure-pursuit for non-holonomic vehicles
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Using Lie group symmetries for fast corrective motion planning
International Journal of Robotics Research
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This paper presents a new approach that analyzes the stability of a general class of path tracking algorithms taking into account the pure delay in the control loop. The analysis has been done for straight paths and paths of constant curvature. This has sufficient generality since most usual paths can be decomposed in pieces of constant curvature. The method has been applied to the pure pursuit path tracking algorithm, one of the most widely used algorithms. The experiments performed with a computer controlled high mobility multi-purpose wheeled vehicle show good agreement with the theoretical predictions of the proposed method.