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Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.<\/jats:p>","DOI":"10.1017\/s026357470001883x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:11:46Z","timestamp":1236690706000},"page":"401-410","source":"Crossref","is-referenced-by-count":29,"title":["Modeling and path-tracking control of a mobile wheeled robot with a differential drive"],"prefix":"10.1017","volume":"13","author":[{"given":"R. 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DeSantis R.M. , \u201cDynamic Modeling of Mechaiical Systems subject to Holonomic and Nonholonomic, constraints\u201d EPM\/RT-94\/04 (Ecole Polytechnique de Montr\u00e9al, 1994)."},{"key":"S026357470001883X_ref010","first-page":"137","article-title":"Veicoli Autonomi: Controllo del Movimento con Technica Sliding Mode","volume":"3","author":"DeSantis","year":"1990","journal-title":"Automazione e Strumentazwne"},{"key":"S026357470001883X_ref017","volume-title":"Servomechanism and Regulating System Design","author":"Chestnut","year":"1959"},{"key":"S026357470001883X_ref003","volume-title":"Les Robots Mobiles Autonomes","author":"Giralt","year":"1988"},{"key":"S026357470001883X_ref005","doi-asserted-by":"publisher","DOI":"10.1109\/25.69979"},{"key":"S026357470001883X_ref006","unstructured":"6. DeSantis R.M. , \u201cPath-Tracking for Tractor-Trailer-like Robots\u201d Int. J. Rob. Res. 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