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

Yacine Chitour (1) , Salah Laghrouche (2) , Fayez S. Ahmed (2) , Islam Ait-Hammouda (3)

1 L2S - Laboratoire des signaux et systèmes
2 SET - Laboratoire Systèmes et Transports
3 Technocentre Renault [Guyancourt]

In this article, we have addressed 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. This hypothesis 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.

Domaines: Automatique

Yacine Chitour, Salah Laghrouche, Fayez S. Ahmed, Islam Ait-Hammouda. Path following for a target point attached to a unicycle type vehicle. 2011. ⟨hal-00578883v1⟩