Path Tracking Of a Mobile Robot Based On Interval Analysis

One important problem in autonomous navigation of a robot is following an unknown path. Over the past several years, numerous studies and researches had considered the path tracking issue. Alternative methods have been developed to overcome this problem. This paper proposes a method based on Interval Analysis. The problem is then formulated as a constraint satisfaction problem where a simple algorithm is applied in order to contract the solution. This technique yields a guaranteed and robust online estimation of the robot. Simulation results on a car-like robot corroborate the efficiency of the proposed technique.