Path following using dynamic transverse feedback linearization for car
1. PATH FOLLOWING USING DYNAMIC TRANSVERSE FEEDBACK
LINEARIZATION FOR CAR-LIKE ROBOTS
ABSTRACT
This paper presents an approach for designing path-following controllers for the
kinematic model of car-like mobile robots using transverse feedback linearization with dynamic
extension. This approach is applicable to a large class of paths and its effectiveness is
experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse
feedback linearization makes the desired path attractive and invariant, while the dynamic
extension allows the closed-loop system to achieve the desired motion along the path.