Trajectory Tracking for a Threecycle Mobile Robot: the Vector Field Orientation Approach

The paper presents a proposition of the trajectory tracking task solution for the car-like threecycle mobile vehicle from a theoretical point of view. Proposed concept comes from the Vector Field Orientation (VFO) approach introduced for example in [9] and [10]. The VFO methodology results from a simple geometrical interpretation of the possible time evolution of the considered kinematics in a response to specific control signals. The characteristic features of the obtained VFO controller are its simple and intuitive synthesis and natural transient states of the controlled vehicle in a task space. Control performances are illustrated by simulation results.