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A conventional application of the Vector-Field-Orientation (VFO) control design method to the set-point control problem leads to controllers with an infinite-time convergence of the stabilization errors. In this paper we try to extend a family of VFO control laws, applicable to unicycle kinematics, with a version which makes the stabilization errors finite-time convergent to zero where, additionally,...
Parking a vehicle at a fixed configuration in the presence of motion curvature constraints is a well known problem of substantial practical meaning. It has been addressed in the robotic literature mostly in the context of planning an optimized path-to-goal or by computing open-loop controls for a vehicle. The paper presents a novel approach to the constrained set-point control for a mobile robot utilizing...
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