The Robot Controller

• The robot is controlled by a closed loop, time invariant and globally stable motor controller.

• The target pose is always reached on a straight line, i.e., avoiding cusps and the vehicle moves only forward.

• Let (xG,yG,fG) be the robot's pose in the target centered coordinate system (target (0,0,0)).

• Kinematic Model: x' = u cos (fG) y' = u sin (fG) f' = w = u c angular velocity