Path Seeker Overview
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Path Tracking Control
In the past two or three decades, a lot of interest has emerged in the development of path tracking control schemes for wheeled vehicles that only move forward on a planar surface and have a bounded turning radius. Such a vehicle is called a Dubins' car in honour of the mathematician L. E. Dubins, who first addressed this control problem.
The Path Seeker is a very simple version of a Dubins car. The motivation for developing control schemes for Dubins' cars is that they are an essential part of the kinematic models of road vehicles. Dubins demonstrated that a vehicle that can only move forward with curvature bounds (i.e. a road vahicle) is controllable.
A wide variety of control schemes have been developed for Dubins' cars.