Circle Tracking Control of Car-like Robots by Path-generating Regulator Using Vector field

Abstract

Extensive labor is required for environmental survey. In order to support it, we have developed an autonomous vehicle and the control method called Path-generating Regulator (PGR). PGR makes the heading of the vehicle converge to the predefined orientation angle in the field. In this paper, we consider the following characteristics and deviations of the Lyapunov Vector Field(LVF),the Supercritical Hopf Bifurcation Field(SHBF),and the Tangent Vector Field(TVF) from simulation and experimental results.