Dynamic path-following using temporary path generator for mobile robots with nonholonomic constraints

The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints is highly affected by its initial states, because a nonholonomically constrained system cannot guarantee the asymptotic stability for one equilibrium point of which errors and the time derivative of errors are zero. For this reason, the dynamic path following may yield poor performance with some initial states. To overcome the initial state problems, we propose a temporary path generator, which generates a new temporary path with respect to the originally desired path. The direction of the path cannot be considered in dynamic path following, so we propose a new valid output, which can consider the direction of a path. Simulation results are presented to demonstrate the effectiveness of the proposed algorithm of the dynamic path. From the simulation results, it is shown that the proposed algorithm has good performance and robustness to modeling errors.