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This paper addresses the problem of controlling a single mobile robot to converge smoothly to a pre-specified closed curve. Once in the curve, the robot remains circulating along it. The main motivation for this is the control of unmanned airplanes, where the robot cannot converge to a single point. Our control law is based on an artificial vector field that allows for the generalization to time-varying curves defined in n-dimensional spaces. We also present results that may be used to control mobile robots moving with constant speed. We devise convergence proofs and present simulations that verify the proposed approach.
American Control Conference, 2009. ACC '09.
Date of Conference: 10-12 June 2009