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1. PATH FOLLOWING USING DYNAMIC TRANSVERSE FEEDBACK
LINEARIZATION FOR CAR-LIKE ROBOTS
ABSTRACT
This paper presents an approach for designing pathfollowing 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.