scholarly journals Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

2015 ◽  
Vol 31 (2) ◽  
pp. 269-279 ◽  
Author(s):  
Adeel Akhtar ◽  
Christopher Nielsen ◽  
Steven L. Waslander
Keyword(s):  
Feedback Linearization ◽  
Path Following ◽  
Transverse Feedback Linearization

scholarly journals Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gildeberto de Souza Cardoso ◽  
Leizer Schnitman ◽  
José Valentim dos Santos Filho ◽  
Luiz Carlos Simões Soares Júnior
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Piecewise Linear ◽  
Domain Of Attraction ◽  
Path Following ◽  
Transverse Feedback Linearization

This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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