The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame

In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. The Serret-Frenet frame is used to describe the robot relative to the desired path. The way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. The kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.