Dynamics-based full-state tracking for a car-like mobile robot

Abstract

This paper presents a full-state tracking control scheme for a car-like vehicle. The control law is developed based on a dynamic model of the vehicle together with the definition of a virtual reference point off the vehicle. The proposed controller can track another vehicle moving in front of or track one moving behind it. Simulations show the effectiveness of the proposed controller. The influence of pre-selected parameters on tracking performance is also examined.