Akhtar, AdeelNielsen, ChristopherWaslander, Steven L.2021-09-232021-09-232015-02-16https://doi.org/10.1109/TRO.2015.2395711http://hdl.handle.net/10012/17493Akhtar, A., Nielsen, C., & Waslander, S. L. (2015). Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Transactions on Robotics, 31(2), 269–279. https://doi.org/10.1109/TRO.2015.2395711This paper presents an approach for designing path following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.enVectorsManifoldsPolynomialsRobot kinematicsApproximation methodsKinematicsArticle