| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 719712 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
This paper proposes a kinematics path-following algorithm that drives a unicycle-type robot to a desired path, respecting velocity saturation constraint on the actuators. The solution, based on an extension of a globally convergent non-singular path following solution, is formally shown. Simple conditions for the selection of the gains are provided.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
