Path following for a target point attached to a unicycle type vehicle

TL;DR

This paper presents a control method for unicycle vehicles to follow a path by controlling a target point attached to the vehicle, ensuring global stability without initial condition restrictions.

Contribution

It introduces a novel control approach that transforms the path following problem into a reference trajectory tracking problem using geometric and saturated control laws.

Findings

Controller achieves global stabilization

Effective in simulations

No restrictions on initial conditions

Abstract

In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations.