This is a repo containing controller for motion control of unicycle model. The motion control is consisted of path following and trajectory tracking, whereas the former could be viewed as a subproblem of the latter. The task of path following is to follow a path parameterized either by arclength or time, while it is not required to track the path with a timing law as specified in trajectory tracking problem.
copy the code and run path_following_test.m or trajectory_tracking_test.m.
You probably don't have the rk45.m file which exists in my local machine. Either substitute it with MATLAB built-in command ode45 or contact the user directly.
- Hung, Nguyen, et al. "A review of path following control strategies for autonomous robotic vehicles: Theory, simulations, and experiments." Journal of Field Robotics 40.3 (2023): 747-779.
- Micaelli, Alain, and Claude Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. Diss. INRIA, 1993.
- Yu, Xiao, Lu Liu, and Gang Feng. "Trajectory tracking for nonholonomic vehicles with velocity constraints." IFAC-PapersOnLine 48.11 (2015): 918-923.