02055nas a2200181   4500008004100000245007900041210006900120260001200189300001400201490000700215520144800222653002101670653001301691100001601704700001501720700001601735856012201751       2005                        eng d00aPath-Following with a Bounded-Curvature Vehicle: a Hybrid Control Approach0 aPathFollowing with a BoundedCurvature Vehicle a Hybrid Control A  cOctober  a1228-12470 v783 a<p>In this paper, we consider the problem of stabilizing the kinematic model of a car to a path in the plane under rather general conditions. The path is subject to very mild restrictions, while the car model, although rather simplified, contains the most relevant limitations inherent in wheeled robots kinematics. Namely, the car can only move forward, its steering radius is lower bounded and a limited sensory information only provides a partial knowledge of some state parameters. In particular, we consider the case that the current distance and the heading angle error with respect to the closest point on the reference path can be measured but only the sign of the path curvature is detected. These constraints are such to make classical control techniques inefficient. As the feedback information is both continuous and discrete, the hybrid systems formalism turns out to be well appropriate to model the problem. The proposed approach is based on optimal control techniques successfully applied in a previous work for following rectilinear path. We propose here an extension to the tracking of more general paths with moderate curvature. The stability of the closed-loop system is proved by means of the hybrid system formalism and hybrid formal verification techniques. Finally, the practicality of the proposed approach, in spite of non–idealities in real-world applications, is discussed by reporting experimental results.</p>
10aEmbedded Control10aRobotics1 aBalluchi, A1 aBicchi, A.1 aSouères, P  uhttps://www.centropiaggio.unipi.it/publications/path-following-bounded-curvature-vehicle-hybrid-control-approach.html00515nas a2200157   4500008004100000245004300041210004200084653002400126653002100150653003000171100001600201700001500217700001800232700001600250856009100266       1996                        eng d00aPath Tracking Control for Dubin's Cars0 aPath Tracking Control for Dubins Cars10aAutonomous Vehicles10aEmbedded Control10aNonlinear Control Systems1 aBalluchi, A1 aBicchi, A.1 aBalestrino, A1 aCasalino, G  uhttps://www.centropiaggio.unipi.it/publications/path-tracking-control-dubins-cars.html