Real-time path changing for a non-holonomic mobile robot using a non-linear method

Presents a motion control method for a non-holonomic mobile robot that has to join a new path. The main difficulties in controlling an autonomous vehicle are bound to the fact that vehicles usually have three degrees of freedom (two in position and one in orientation) in spite of having only two degrees of freedom for motion control. In order to control the robot in a pathkeeping goal, the authors developed a nonlinear feedback loop based on a tracking method. Then, the authors improved its ability to make it able to rejoin any path and that for any initial posture