Point-to-point control and trajectory tracking in wheeled mobile robots: some further results and applications

Abstract This paper extends previous results in the framework of vehicle control. In particular the paper proposes simple control schemes for driving the vehicle from a given configuration to a prescribed posture in the configuration space, for tracking a time parameterizing path, and for driving a group of vehicles in convoy. We consider the point-to-point and tracking control problems when the controller accounts for the actuator dynamics.

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