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In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.
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Khoukhi et al. (2013) studied this question.
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