Jul 2026
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural framework by specifying desired motion directions throughout the workspace and enabling direct integration with feedback control. However, mo...
Zhou-Ru Xiao, Sha Luo, Yang Lu et al.
· arXiv.org · 0 citations