Related papers: Switched Vector Field-based Guidance for General R…
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…
This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
Most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existence of singular points where navigation algorithms return…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
This paper develops a guidance control law based on a parametric Guiding Vector Field (GVF) and integrates it with a state-of-the-art acceleration and attitude control architecture for tailsitters. The resulting framework enables a direct…
We propose a novel vector field based guidance scheme for tracking and surveillance of a convoy, moving along a possibly nonlinear trajectory on the ground, by an aerial agent. The scheme first computes a time varying ellipse that…
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branch, or generated by probabilistic models. We propose a…
The present article advances the concept of a non-singular cooperative guiding vector field under a homotopy equivalence transformation. Firstly, the derivation of a guiding vector field, based on a non-singular vector field, is elaborated…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…