(Georgia Institute of Technology, 2009)
Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B.
In this paper, we present feedback control
laws for an autonomous vehicle with rigidly mounted
range sensors to track a desired curve. In particular,
we consider a vehicle that has a group of rays around
two center rays that are perpendicular to the velocity
of the vehicle. Under such a sensor configuration,
singularities are bound to occur in the curve tracking
feedback control law when tracking concave curves.
To overcome this singularity, we derive a hybrid strategy
of switching between control laws when the vehicle
gets close to singularities. Rigorous proof and extensive
simulation results verify the validity of the proposed
feedback control law.