{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T03:21:05Z","timestamp":1761708065933,"version":"3.38.0"},"reference-count":23,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2007,4,1]],"date-time":"2007-04-01T00:00:00Z","timestamp":1175385600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,4]]},"abstract":"<jats:p> This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path-following control design relies on Lyapunov theory, backstepping techniques and deals explicitly with vehicle dynamics. Furthermore, it overcomes the initial condition constraints present in a number of path-following control strategies described in the literature. This is done by controlling explicitly the rate of progression of a \u201cvirtual target\u201d to be tracked along the path; thus bypassing the problems that arise when the position of the path target point is simply defined as the closest point on the path. The obstacle avoidance part uses the Deformable Virtual Zone (DVZ) principle. This principle defines a safety zone around the vehicle in which the presence of an obstacle induces an \u201cintrusion of information\u201d that drives the vehicle reaction. The overall algorithm is combined with a guidance solution that embeds the path-following requirements in a desired intrusion information function, which steers the vehicle to the desired path while the DVZ ensures minimal contact with the obstacle, implicitly bypassing it. Simulation and experimental results illustrate the performance of the control system proposed. <\/jats:p>","DOI":"10.1177\/0278364907076790","type":"journal-article","created":{"date-parts":[[2007,4,10]],"date-time":"2007-04-10T15:20:12Z","timestamp":1176218412000},"page":"361-375","source":"Crossref","is-referenced-by-count":110,"title":["Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot"],"prefix":"10.1177","volume":"26","author":[{"given":"Lionel","family":"Lapierre","sequence":"first","affiliation":[{"name":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"}]},{"given":"Rene","family":"Zapata","sequence":"additional","affiliation":[{"name":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"}]},{"given":"Pascal","family":"Lepinay","sequence":"additional","affiliation":[{"name":"Universit\u00e9 Montpellier 161, rue Ada 34392 Montpellier Cedex 5                         {lapierre, zapata, lepinay}@lirmm.fr"}]}],"member":"179","published-online":{"date-parts":[[2007,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/100.388294"},{"volume-title":"Proceedings of MED'2001","author":"Aicardi, M.","key":"atypb2"},{"volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Althaus, P.","key":"atypb3"},{"volume-title":"Behavior Based Robotics","year":"1998","author":"Arkin, R.C.","key":"atypb4"},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Canudas de Wit, C.                 ,                      Khennouf, H.                 ,                      Samson, C.                 , and                      Sordalen, O.J.                  (1993). Nonlinear control design for mobile robots. In                     Recent Trends in Mobile Robotics (eds                      Y. F. Zheng                 ), Vol 11, pp.121\u2014156, World Scientific                     Series in Robotics and Automated Systems. 1993","DOI":"10.1142\/9789814354301_0005"},{"volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Elnagar, A.","key":"atypb6"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)37980-6"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2000.914272"},{"issue":"3","key":"atypb9","first-page":"149","volume":"14","author":"Fierro, R.","year":"1997","journal-title":"Systems"},{"volume-title":"Proceedings of the 3rd Asian Control Conference","author":"Ge, S.","key":"atypb10"},{"volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Iniguez, P.","key":"atypb11"},{"issue":"2","key":"atypb12","first-page":"265","volume":"44","author":"Jiang, Z.P.","year":"1999","journal-title":"IEEE Transactions on Robotics and Automation"},{"volume-title":"Nonlinear and Adaptive Control Design","year":"1995","author":"Krsti\u0107, M.I.","key":"atypb13"},{"volume-title":"CDC 2003, 42nd IEEE Conference on Decision and Control","author":"Lapierre, L.","key":"atypb14"},{"volume-title":"Conception d'une methode de planification pour robot mobile selon la methode des milieux continus appliquee aux fluides visqueux","year":"1999","author":"Louste, C.","key":"atypb15"},{"volume-title":"Trajectory-tracking for unicycle-type and two-steering-wheels mobile robots","year":"1993","author":"Micaelli, A.","key":"atypb16"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/21.44033"},{"volume-title":"IFAC World Congress","author":"Ogren, P.","key":"atypb18"},{"volume-title":"Formation and Obstacle Avoidance in Mobile Robot Control","year":"2003","author":"Ogren, P.","key":"atypb19"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/70.163777"},{"volume-title":"Mobile robot control Part 1: Feedback control of a non-holonomic mobile robot","year":"1991","author":"Samson, C.","key":"atypb21"},{"volume-title":"CDC'03, 42nd IEEE Conference on Decision and Control","author":"Soetanto, D.","key":"atypb22"},{"issue":"5","key":"atypb23","first-page":"559","volume":"38","author":"Zapata, R.","year":"2004","journal-title":"Systems"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907076790","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907076790","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T01:11:05Z","timestamp":1740877865000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907076790"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,4]]},"references-count":23,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2007,4]]}},"alternative-id":["10.1177\/0278364907076790"],"URL":"https:\/\/doi.org\/10.1177\/0278364907076790","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2007,4]]}}}