Path tracking control for Dubin's cars

The problem of driving a Dubin's car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path relying on measurements of the current distance from the path and of the heading angle error.

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