Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots


This paper presents an approach for coming up with path-following controllers for the kinematic model of automobile-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of ways and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the required path engaging and invariant, while the dynamic extension allows the closed-loop system to realize the specified motion along the path.

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