Abstract
A nonlinear control law to steer the unicycle model to a static or dynamic target pose is presented. If the target is static the control signals are smooth in their arguments and the solution guarantees exponential convergence of the distance and orientation errors to zero. The major advantages of the proposed approach are that there is no need for path planning and, in principle, there is no need for global self-localization either.
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Indiveri, G. (2002). On the Motion Control of a Nonholonomic Soccer Playing Robot. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_48
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DOI: https://doi.org/10.1007/3-540-45603-1_48
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