Provably Correct Sensor-Driven Path-Following for Unicycles Using Monotonic Score Functions
Benton Clark,Varun Hariprasad,Hasan A. Poonawala,Benton Clark,Varun Hariprasad,Hasan A. Poonawala
This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a scalar value (the score) through some mapping (the score function); the latter may be designed or learned. The score is then mapped to forward and angular velocities...
