Closed-loop steering for unicycle-like vehicles: A simple lyapunov like approach

Abstract In this paper it is shown that a special choice of the variables representing the position of a unycicle-like vehicle allows the determination of a smooth and globally stabilizing closed loop steering law. The analysis is carried out by means of a Lyapunov-like approach which directly leads to the steering strategy. An extension related with the use of “multiple objective function” is introduced an and the analysis of the limiting behaviour of the path’s curvature is reported.