The Robot Controller

• Kinematic Model: x' = u cos (fG) robot pose: y' = u sin (fG) (xG,yG,fG) f' = w = u c

• Transformation: e = Ö (xG2 + yG2) q = atan2(xG,yG) a = q - f

• Control law: u = g e velocity = constant x distance to target