Path following with reduced off-tracking for multibody wheeled vehicles
IEEE Transactions on Control Systems Technology, 11(4):598-605, 2003.
Our purpose is to provide a formulation of the path
following problem for multibody kinematic wheeled vehicles aiming to
whole vehicle at a reduced distance from a given path, i.e. to reduce
the off-tracking distance of the vehicle from the path.
In the proposed setting, the stabilization problem for paths of
constant curvature is locally
solvable by a simple linear feedback law.
In order to quantify how much cumbersome a vehicle is along a given path, we
provide two different estimates of the off-tracking bound,
i.e. of the minimal clearance that has to be left around
the path in order for the vehicle to pass through in case of perfect
Experimental results on a miniature multibody vehicle are reported.