Controlling independently the heading and the position of a Dubins car using Lie brackets

Luc Jaulin

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arXiv · 2412.02709

Controlling independently the heading and the position of a Dubins car using Lie brackets

Luc Jaulin

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Abstract

In this paper, we give a control approach to follow a trajectory for a Dubins car controlling the heading independently. The difficulty is that the Dubins car should have a heading corresponding to the argument of the vector speed of the vehicle. This non holonomic constraint can be relaxed thanks to a specific control which uses Lie brackets. We will show such a control will allow us, at least from a theoretical point of view, to control independently the moving position of the car and the heading.

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Luc Jaulin. 2024-11-27. Controlling independently the heading and the position of a Dubins car using Lie brackets. https://arxiv.org/abs/2412.02709

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